Vehicle for transporting storage containers in an automated storage and retrieval system

Abstract

The invention relates to a remotely operated vehicle (500) capable of changing a footprint in dependence of a load of a storage container (106). Furthermore, the vehicle (500) is capable of arranging a storage container support (550) in a position for receiving a storage container (106) from a conveying device. Furthermore, the invention relates to a storage and retrieval system (1) comprising such a vehicle (500), and a method for operating such a vehicle (500).

Description

Technical Field

[0001] The present invention relates to an automated storage and retrieval system for storing and retrieving containers, and more particularly to a remotely operated vehicle for transporting storage containers in such a system. Background Technology

[0002] Figure 1A A typical prior art automated storage and retrieval system 1 with a frame structure 100 is disclosed. Figure 2 and Figure 3 Two different prior art container handling vehicles 201 and 301 suitable for operation on such system 1 are disclosed.

[0003] The frame structure 100 includes upright members 102, horizontal members 103, and storage volumes comprising storage rows 105 arranged in rows between the upright members 102 and the horizontal members 103. Within these storage rows 105, storage containers 106, also referred to as boxes, are stacked one on top of another to form a stack 107. Members 102 and 103 can typically be made of metal (e.g., extruded aluminum profiles).

[0004] The frame structure 100 of the automated storage and retrieval system 1 includes a track system 108 arranged across the top of the frame structure 100. This track system may be a track grid. Multiple container handling vehicles 201, 301 operate on this track system 108 to raise and lower storage containers 106 from and into storage columns 105, and also to transport storage containers 106 above the storage columns 105. The track system 108 includes a first set of parallel tracks 110 and a second set of parallel tracks 111. The first set of parallel tracks is arranged to guide the movement of the container handling vehicles 201, 301 across the top of the frame structure 100 in a first direction X. The second set of parallel tracks is arranged perpendicular to the first set of tracks 110 to guide the movement of the container handling vehicles 201, 301 in a second direction Y, perpendicular to the first direction X. Containers 106 stored in columns 105 are accessed by the container handling vehicles through access openings / grid openings 115 in the track system 108. Container handling vehicles 201 and 301 can move laterally above storage column 105, that is, in a plane parallel to the horizontal XY plane.

[0005] The horizontal range of one of the grid units 122 constituting the grid pattern is in Figure 1A Marked with a thick line.

[0006] Track system 108 can be a single track system, such as Figure 1B As shown. Alternatively, orbital system 108 can be a dual-track system, such as... Figure 1CAs shown, this allows a container transport vehicle 201 with a coverage area roughly corresponding to the lateral region defined by the grid unit 122 to travel along a row of grid columns 105, even if another container transport vehicle 201 is located above a grid column adjacent to that row. Both single-track and dual-track systems, or a combination of single-track and dual-track arrangements included in a single-track system 108, form a grid pattern in the horizontal plane P. This grid pattern includes a plurality of rectangular and uniform grid positions or grid units 122, wherein each grid unit 122 has a grid opening 115 defined by a pair of tracks 110a, 110b of a first set of tracks 110 and a pair of tracks 111a, 111b of a second set of tracks 111. The horizontal extent of each grid unit 122 includes the grid opening 115, and the pair of tracks 110a, 110b of the first set of tracks 110 and the pair of tracks 111a, 111b of the second set of tracks 111 that define the grid opening 115. Figure 1C and Figure 1D In the middle, the grid unit 122 is indicated by the dashed box.

[0007] Therefore, tracks 110a and 110b form multiple pairs of tracks defining parallel multi-row grid units extending in the first direction X, and tracks 111a and 111b form multiple pairs of tracks defining parallel multi-row grid units extending in the second direction Y.

[0008] like Figure 1D As shown, each grid unit 122 has a width W that is typically between 30 and 150 cm. c and length L, which is usually in intervals of 50 to 200 cm. c Each grille opening 115 has a width W o and length L o Due to the horizontal range of the track, the width and length of the grille opening are typically greater than the width W of the grille unit 122. c and length L c Smaller than 2 to 10 cm.

[0009] In the first direction X and the second direction Y, adjacent grid units are arranged to contact each other, such that there is no space between them.

[0010] The upright members 102 of the frame structure 100 can be used to guide the storage containers 106 during the process of lifting the containers 106 out of the storage column 105 and lowering the containers 106 into the storage column 105. The stack 107 of the containers 106 is generally self-supporting.

[0011] Each prior art container handling vehicle 201, 301 includes a body 201a, 301a, a first set of wheels 201b, 301b, and a second set of wheels 201c, 301c, which respectively enable lateral movement of the container handling vehicle 201, 301 in a first direction X and a second direction Y. Figure 2 and Figure 3 In this configuration, two wheels in each group are fully visible. The first group of wheels 201b and 301b are arranged to engage with two adjacent tracks of the first group of tracks 110, and the second group of wheels 201c and 301c are arranged to engage with two adjacent tracks of the second group of tracks 111. At least one of these groups of wheels 201b, 301b, 201c, and 301c can be raised and lowered such that the first group of wheels 201b and 301b and / or the second group of wheels 201c and 301c can engage with the corresponding set of tracks 110 and 111 at any time.

[0012] Each prior art container handling vehicle 201, 301 also includes a lifting device (not shown) for vertically transporting the storage container 106, such as raising the storage container 106 from the storage row 105 and lowering the storage container 106 into the storage row 105. The lifting device includes one or more clamping / engaging devices adapted to engage the storage container 106, and these clamping / engaging devices are lowerable from the vehicles 201, 301 such that the position of the clamping / engaging devices relative to the vehicles 201, 301 is adjustable in a third direction Z orthogonal to the first direction X and the second direction Y. A portion of the clamping device of the container handling vehicle 301 is... Figure 3 The container handling device 201 is indicated by reference numeral 304 in the accompanying drawings. Figure 2 It is located inside vehicle body 201a.

[0013] Typically, and for the purposes of this application, Z=1 represents the topmost layer of the storage container, i.e., the layer immediately below the track system 108; Z=2 represents the second layer below the track system 108; Z=3 represents the third layer, and so on. In the exemplary prior art disclosed in FIG1, Z=8 represents the bottommost layer of the storage container. Similarly, X=1…n and Y=1…n represent each storage column 105 on the horizontal plane P. H The position within the space. Therefore, as an example and using the Cartesian coordinate system X, Y, Z indicated in Figure 1, the storage container labeled 106' in Figure 1 can be said to occupy storage positions X=10, Y=2, Z=3. Container transport vehicles 201 and 301 can be said to travel in layer Z=0, and each storage column 105 can be identified by its X and Y coordinates.

[0014] The storage volume of the frame structure 100 is typically referred to as grid 104, and the possible storage locations within this grid are referred to as storage cells. Each storage column can be identified by its position in the first direction X and the second direction Y, while each storage cell can be identified by its position / container number in the first direction X, the second direction Y, and the third direction Z.

[0015] Each prior art container handling vehicle 201, 301 includes a storage compartment or space for receiving and loading the storage container 106 during transport across the track system 108. The storage space may include a centrally located cavity within the vehicle body 201a, such as... Figure 2 As shown and as described, for example, in WO2015 / 193278A1, the contents of which are incorporated herein by reference.

[0016] Figure 3 An alternative construction of a container handling vehicle 301 with a cantilever structure is shown. Such a vehicle is described in detail, for example, in NO317366, the contents of which are also incorporated herein by reference.

[0017] Figure 2 The central cavity container transport vehicle 201 shown may have a coverage area that covers a region of a size in the first direction X and the second direction Y, the region being approximately equal to the lateral extent of the storage column 105, for example as described in WO2015 / 193278A1, the contents of which are incorporated herein by reference. The term “lateral” as used herein may mean “horizontal”.

[0018] Alternatively, the central cavity container transport vehicle 101 may have a coverage area larger than the lateral area defined by the storage column 105, for example, as disclosed in WO2014 / 090684A1.

[0019] The track system 108 typically includes a track with grooves in which the vehicle's wheels run. Alternatively, the track may include upwardly projecting elements, where the vehicle's wheels include flanges to prevent derailment. These grooves and upwardly projecting elements are collectively referred to as guide rails. Each track may include one guide rail, or each track may include two parallel guide rails.

[0020] WO2018 / 146304, the contents of which are incorporated herein by reference, illustrates a typical construction of a track system 108 comprising tracks and parallel guide rails in both the X and Y directions.

[0021] In the frame structure 100, most columns 105 are storage columns 105, that is, columns 105 where storage containers 106 are stored in stacks 107. However, some columns 105 may serve other purposes. Figure 1AIn this context, columns 119 and 120 are dedicated columns used by container handling vehicles 201 and 301 to drop off and / or pick up storage containers 106, enabling their transport to an access station (not shown) where they can be accessed from outside the frame structure 100 or transferred from or into the frame structure 100. In the art, such a location is commonly referred to as a "port," and the columns where the ports are located may be referred to as "port columns" 119 and 120. Transport to the access station can be in any direction, i.e., horizontal, inclined, and / or vertical. For example, storage containers 106 can be placed in random or dedicated columns 105 within the frame structure 100 and then picked up by any container handling vehicle and transported to port columns 119 and 120 for further transport to the access station. It should be noted that the term "inclined" means transport of storage containers 106 with a general transport direction somewhere between horizontal and vertical.

[0022] exist Figure 1A In the first port column 119, for example, it can be a dedicated unloading port column, in which container handling vehicles 201 and 301 can unload the storage container 106 to be transported to the storage station or transfer station, and the second port column 120 can be a dedicated pickup port column, in which container handling vehicles 201 and 301 can pick up the storage container 106 that has been transported from the storage station or transfer station.

[0023] The storage and retrieval station can typically be a pick-up station or a storage station, where product items are removed from or positioned within storage container 106. At the pick-up station or storage station, storage container 106 is typically not removed from the automated storage and retrieval system 1, but is returned to frame structure 100 once retrieved. The port can also be used to transfer storage containers to another storage facility (e.g., to another frame structure or another automated storage and retrieval system), to a transport vehicle (e.g., a train or truck), or to a production facility.

[0024] Storage containers are typically transported between port columns 119, 120 and the access station using a conveying system that includes conveying devices.

[0025] If port columns 119, 120 and access stations are located at different heights, the conveying system may include a lifting device with vertical components for vertically transporting storage container 106 between port columns 119, 120 and access stations.

[0026] The transfer system can be arranged to transfer storage containers 106 between different frame structures, for example, as described in WO2014 / 075937A1, the contents of which are incorporated herein by reference.

[0027] When you need to access the stored Figure 1AWhen a target storage container 106' is in one of the columns 105 disclosed herein, one of the container handling vehicles 201, 301 is instructed to retrieve the target storage container 106' from its position and transport it to the unloading port column 119. This operation includes moving the container handling vehicles 201, 301 to a position above the storage column 105 where the target storage container 106' is located, retrieving the target storage container 106' from the storage column 105 using the lifting device (not shown) of the container handling vehicles 201, 301, and transporting the target storage container 106' to the unloading port column 119. If the target storage container 106' is located deep within the stack 107, i.e., one or more other storage containers 106 are located above the target storage container 106', the operation also includes temporarily moving the storage container 106 located above it before lifting the target storage container 106' from the storage column 105. This step, sometimes referred to in the art as “digging,” can be performed using the same container handling vehicles 201, 301 subsequently used to transport the target storage container 106' to the unloading port column 119, or using one or more other cooperating container handling vehicles 201, 301. Alternatively or additionally, the automated storage and retrieval system 1 may have container handling vehicles 201, 301 specifically designed for the task of temporarily removing the storage container 106 from the storage column 105. Once the target storage container 106' has been removed from the storage column 105, the temporarily removed storage container 106 can be repositioned back into the original storage column 105. However, the removed storage container 106 can alternatively be repositioned to another storage column 105.

[0028] When storage container 106 is to be stored in a column 105, one of the container handling vehicles 201, 301 is instructed to pick up the storage container 106 from the pick-up port column 120 and transport it to a location above the storage column 105 where the storage container will be stored. After any storage container 106 located at or above the target location within the stack 107 has been removed, the container handling vehicles 201, 301 position the storage container 106 at the desired location. The removed storage container 106 can then be lowered back into the storage column 105 or repositioned to another storage column 105.

[0029] In order to monitor and control the automated storage and retrieval system 1, such as monitoring and controlling the position of the respective storage containers 106 within the frame structure 100, the contents of each storage container 106, and the movement of the container transport vehicles 201, 301, so that the desired storage container 106 can be delivered to the desired location at a desired time without the container transport vehicles 201, 301 colliding with each other, the automated storage and retrieval system 1 includes a control system 900, which is typically computerized and typically includes a database for tracking the storage containers 106.

[0030] At the port areas, i.e., in the areas adjacent to or near port columns 119 and 120 at the upper rail system 108, multiple container handling vehicles 201 and 301 may sometimes have to queue to unload or pick up storage containers 106. Such queuing should be avoided because it can cause unnecessary interruptions to the operation of container handling vehicles 201 and 301, and thus cause unnecessary stops to system 1.

[0031] Furthermore, in known storage systems, container handling vehicles 201 and 301 transport storage containers 106 to or pick up storage containers 106 from port columns 119 and 120 themselves. Therefore, in a large storage system 1, container handling vehicles 201 and 301 may have to travel long distances to transport or pick up storage containers 106 at port columns 119 and 120, which may be time-consuming and inefficient.

[0032] The first objective of this invention is to provide a storage and retrieval system that mitigates these drawbacks.

[0033] A second objective of the present invention is to provide a remotely operated vehicle that can assist in the transfer of storage containers within a storage and retrieval system without occupying unnecessary space on the grid system of the storage and retrieval system.

[0034] A third objective of the present invention is to provide a remotely operated vehicle that is a mobile temporary storage vehicle capable of simultaneously transporting multiple storage containers when needed.

[0035] A fourth objective of this invention is to provide a remotely operated vehicle for reducing queuing or congestion. Summary of the Invention

[0036] The invention is set forth and characterized in the independent claims, while the dependent claims describe other features of the invention.

[0037] In a first aspect, the present invention relates to a remotely operated vehicle for transporting storage containers on a rail system of an automated storage and retrieval system.

[0038] The vehicle may include a body having a base including a first set of drive mechanisms arranged on opposite sides of the body for moving the vehicle along a first horizontal direction X on a track system, as disclosed in the background section of the prior art above.

[0039] Furthermore, the vehicle may include a second set of drive mechanisms disposed on the opposite side of the vehicle body or within a cavity of the vehicle body for moving the vehicle along a second horizontal direction Y on the track system. The second direction Y is perpendicular to the first direction.

[0040] The base is preferably a wheeled base, comprising a first set of wheels and a second set of wheels for guiding a container transport vehicle along a track system in a first direction X and a second direction Y, respectively. Furthermore, one set of these sets of wheels can be connected to a wheel shifting assembly capable of raising and lowering the connected set of wheels relative to the other set, such that the set of wheels traveling only in the desired direction contacts the track system. The wheel shifting assembly can be driven by an electric motor. Additionally, both sets of wheels can each be connected to at least two electric motors powered by a power source (e.g., a rechargeable battery) for moving the wheeled base unit in the desired direction.

[0041] Alternatively, the base may be a belt base, which includes a first belt and a second belt for guiding the container transport vehicle along the track system in a first direction X and a second direction Y, respectively.

[0042] Furthermore, the vehicle includes at least one storage container support for carrying / supporting the storage container. The storage container support is movably mounted to the vehicle body, allowing it to move between a first position and a second position. In the second position, the storage container support extends in a horizontal plane to support the storage container. Therefore, when the storage container is supported on the storage container support, the storage container is positioned on top of the storage container support. In other words, when the storage container is positioned on the storage container support, the storage container is supported from below.

[0043] When the storage container support is in the first position, the vehicle has a first coverage area A, and when the storage container support is in the second position, the vehicle has a second coverage area B. In at least one of the first direction X and / or the second direction Y, the second coverage area B is larger than the first coverage area A.

[0044] When the storage container support is positioned in the first position, it can be considered to be retracted, while it is deployed in the second position.

[0045] The term "coverage area" should be understood as a vertical / downward projection. Therefore, the coverage area extends along the first direction X and the second direction Y on the horizontal plane.

[0046] Preferably, the first coverage area A is at least the size / horizontal range of a grid unit of the track system as defined in the background and prior art sections, for example, the size of the grid opening plus the size of the pair of tracks of the first set of tracks and the pair of tracks of the second set of tracks defining the grid opening. The first coverage area A may, for example, be equal to the vertical projection of the vehicle body. Furthermore, the vertical projection of the vehicle body may be equal to the vertical projection of the vehicle's base, which can also be the size of a grid unit of the track system.

[0047] The second coverage area B is preferably 20% to 300% larger than the coverage area A, and more preferably 50% to 200% larger than the first coverage area A.

[0048] The at least one movably mounted storage container support can be pivotally mounted to the vehicle body at a pivot point, such that the storage container support can pivotally move between a first position and a second position about the pivot point. Therefore, when the storage container support is arranged in the first position, the storage container support can be arranged primarily vertically, i.e., primarily including the portion located in the third vertical direction Z.

[0049] The storage container support can be pivotally mounted to the side wall of the vehicle body at the pivot connection.

[0050] Alternatively or additionally, the storage container support may include two parts / segments, wherein a first part is pivotally arranged such that only the first part of the storage container support can pivotally move. The first part may be pivotally mounted to a vehicle base, while a second part of the storage container support may be fixedly arranged to the vehicle body, for example, above a portion of the base.

[0051] The movement of the pivotally mounted storage container support can be actuated, for example, by an electric actuator driven by a battery-powered motor.

[0052] The vehicle may include one or more pivotally arranged storage container supports. Two storage container supports may be mounted, for example, on opposite sides of the vehicle body, or mounted such that they protrude beyond the coverage area of ​​the vehicle body in opposite directions along a first direction X and / or a second direction Y.

[0053] Instead of pivotal mounting or other methods, at least one storage container support can be slidably mounted to the vehicle body, such that the storage container support can slide between a first position and a second position in one of a first horizontal direction X or a second horizontal direction Y. In other words, the storage container support can be considered as configured for linear translational movement in the horizontal direction, preferably linear translational movement in one of the first direction X or the second direction Y.

[0054] The storage container support can be slidably mounted to the top / upper surface of the vehicle's base via an electrically driven linear actuator connected to both the storage container support and the base.

[0055] In another embodiment, the vehicle may include at least one telescopically mounted storage container support attached to the vehicle body. Thus, when the storage container support moves between a first position and a second position, the storage container support can telescopically extend in either a first horizontal direction X or a second horizontal direction Y.

[0056] The storage container support can be installed on the upper surface of the vehicle's base.

[0057] In another embodiment, the storage container support is rotatably mounted to the vehicle body, such that the storage container support rotates in a horizontal plane between a first position and a second position of the storage container support.

[0058] The storage container support can be mounted on one of the sides of the vehicle body or on top of the vehicle body base and is actuated by an electric actuator.

[0059] Typically, when the at least one storage container support is arranged in the first position, the coverage area of ​​the storage container support is within the coverage area of ​​the vehicle body, and therefore the first coverage area A of the vehicle body can be equal to the coverage area of ​​the vehicle body. However, when the storage container support is arranged in the second position, the storage container support can be arranged primarily horizontally and further arranged such that the storage container support protrudes beyond the coverage area of ​​the vehicle body. Therefore, the second coverage area B will be larger than the first coverage area A.

[0060] In the second position, the storage container support can be positioned for receiving storage containers from the conveying device. Because the position of the storage container support can be adjusted due to its movable movement, the structure of the storage container support protruding from the vehicle body in the first horizontal direction X or the second horizontal direction Y in the second position simplifies the loading of storage containers onto the storage container support and the unloading of storage containers from the storage container support.

[0061] As described above, the movement of at least one storage container support can be facilitated / actuated by an electrically operated actuator arranged within the vehicle body (such as its base). The actuator can be an electrically driven linear actuator. Alternatively, the actuator can be a pneumatic or hydraulic actuator operated by an electrical signal.

[0062] The storage container support provides support for the storage container at least when the storage container is positioned in the second position, and therefore can have many different shapes. The storage container support can be in the form of a flat / planar shelf, such as a support plate-like structure with different shapes, or it can include multiple arms supporting the storage container from below. Furthermore, to provide support, it can include any type of scissor, folding, pivoting, rotating, or sliding mechanism to achieve this support function in the second position.

[0063] The support structure for the storage container can be up to 20% larger than the base area of ​​the storage container. The base area of ​​the storage container should be understood as being the same as the vertical projection / coverage area of ​​the storage container.

[0064] The storage container support can extend in a first horizontal direction, and when the storage container support is arranged in a first position, the width of the storage container support in a second horizontal direction can be equal to or within the coverage area of ​​the base.

[0065] The vehicle body base includes a stabilizing structure that extends directly beneath the storage container support when the storage container support is positioned in the second position, in order to stabilize the vehicle, especially during driving.

[0066] The storage container support can extend in a first horizontal direction X, and the stabilizing structure can extend in the same direction X for 20% to 90% of the total length of the storage container support. Preferably, the stabilizing structure extends for 30% to 60% of the total length of the storage container support.

[0067] Instead of this structure, or in addition to this structure, the storage container support may be provided with support wheels that are pivotable from or mounted on the storage container support. The support wheels may extend from below the storage container support in a third vertical direction Z to interact with the track system when the storage container support is positioned in a second location.

[0068] In the above embodiments, at least one storage container support is rotatably mounted to the vehicle body, and the vehicle may include a rotating turntable device with a vertical axis of rotation. The storage container support can then be connected to the rotating turntable device, thereby allowing the storage container support to rotate from a first position to a second position.

[0069] The rotating turntable assembly may also include a turntable arm extending radially from the central portion of the rotating turntable assembly. A storage container support may be arranged at the end of the turntable arm located distal to the vertical axis of rotation. Furthermore, a turntable motor configured to rotate the turntable arm about the vertical axis of rotation may be connected thereto.

[0070] In addition, multiple storage container supports can be connected to the rotating turntable device.

[0071] The vehicle can be configured to carry more storage containers when the storage container supports are in the second position than when the storage container supports are in the first position.

[0072] In a second aspect, the present invention relates to an automated storage and retrieval system comprising a track system having a first set of parallel tracks arranged in a horizontal plane and extending in a first direction, and a second set of parallel tracks arranged in the horizontal plane and extending in a second direction orthogonal to the first direction, the first and second sets of tracks forming a grid pattern in the horizontal plane. Thus, the track system comprises a plurality of adjacent grid units, wherein each grid unit includes a grid opening, a portion of a pair of adjacent tracks from the first set of tracks, and a portion of a pair of adjacent tracks from the second set of tracks, wherein the portion defines the grid opening.

[0073] Below the track system, multiple stacks of storage containers are arranged in storage columns. Each storage column is located vertically below the grid opening.

[0074] In addition, the system includes a remotely operated vehicle, as described above, for supporting at least one storage container. The vehicle is configured to move on a track system above the storage column.

[0075] In addition, the system may include a conveying device for transporting storage containers to storage container supports for remotely operated vehicles.

[0076] The vehicle body of the system may also include a vertically extending structure extending from the base. The vertically extending structure may include a cantilever with a lifting device at its upper end for raising the storage container to a position below the cantilever and lowering the storage container from a position below the cantilever. Therefore, when positioned in the second position, the cantilever may extend in the opposite direction to the storage container support in the first horizontal direction. Furthermore, the cantilever may be positioned on the opposite side of the vehicle compared to the position of the storage container support.

[0077] The storage container support is different from the lifting device that raises and lowers the storage container into and out of the storage column.

[0078] Alternatively, the vehicle body may include a central cavity located within the vehicle body, the vehicle body having a lifting device for raising the storage container to a position within the cavity and lowering the storage container from a position within the cavity. The first set of wheels may have four wheels mounted parallel to the outer wall of the vehicle body, and the second set of wheels may have four wheels mounted parallel to the inner wall of the vehicle body on the inner side of the cavity. The first set of wheels and the second set of wheels are oriented perpendicular to each other.

[0079] The vehicle using this system may include sensors that detect the presence of a storage container on at least one storage container support. Therefore, if no storage container is present, the vehicle can automatically position the storage container support in a first location, ensuring that the vehicle's coverage area is as small as possible.

[0080] In addition, the vehicle may include sensors that can sense the coverage area of ​​the vehicle in the field to calculate the fastest route from one location to another on the track system, taking into account the coverage area.

[0081] The system may also include a control system for receiving information about the coverage area of ​​remotely operated vehicles for controlling vehicles on the track system of the automated storage and retrieval system.

[0082] The size of the vehicle's first coverage area A can be equal to the size of the system's grille unit. Alternatively, the ratio between the size of the grille unit and the size of the remotely operated vehicle's first coverage area A can be from 1:1 to 1:2.

[0083] The remotely operated vehicle may also include a weight distribution system comprising a movable load and a load moving device for shifting the vehicle's center of gravity according to the load of one or more storage containers carried by the remotely operated vehicle. The load moving device may be an actuator, such as a ball screw, rack and pinion, etc. In one embodiment, the movable load may be a storage container, and the load moving device may be a storage container support on which the storage container is disposed. In another embodiment, the movable load may be a weight disposed within a wheeled base.

[0084] The weight distribution system may include:

[0085] - A sensor used to measure the weight of any storage container supported by a storage container support structure, and

[0086] - A control system, connected to sensors and a load moving device, wherein the control system senses mass changes on at least two opposite sides of the vehicle based on measurement data from the sensors and calculates the travel distance of the movable load corresponding to the mass changes, and instructs the load moving device to move the movable load in the opposite direction to the relatively heavier side of the vehicle by the calculated travel distance.

[0087] The control system can perform on-site (i.e., real-time) calculations of the vehicle's dynamic center of gravity during movements such as acceleration and deceleration, and instruct the load moving device to move the movable load in one direction, so that the center of gravity is forced to a more favorable point, thereby reducing the risk of, for example, vehicle tilting.

[0088] The term "conveyor" should be understood as any device capable of conveying / loading storage containers to or from the storage container support of the vehicle of the present invention. Conveyor can be, for example, any of an operator, container handling vehicle, automated guided vehicle (AGV), truck, gripper, robotic arm, elevator, port, or conveyor belt.

[0089] The relative terms “upper,” “lower,” “below,” “above,” “higher,” etc., should be understood in their normal sense and as seen in a Cartesian coordinate system. When referred to relative to a well, “upper” or “above” should be understood as a position closer to the well surface (relative to another component), while the terms “lower” or “below” should be understood as a position further away from the well surface (relative to another component).

[0090] In a third aspect, the present invention relates to a method for operating a remotely operated vehicle.

[0091] The method may include the following steps:

[0092] - When at least one storage container support is in the first position, the remotely operated vehicle is moved toward the first position to receive the storage container.

[0093] - Deploy the remotely operated vehicle at the first location, and

[0094] - Move at least one storage container support into a second position for receiving and storing the storage container.

[0095] In addition, the method may include the step of moving the vehicle to the second position to deliver the storage container to the receiving unit when the storage container support is arranged in the second position.

[0096] The above method and steps can be used to monitor and control the system by receiving wireless data communication and sending it to the remotely operated vehicle.

[0097] Therefore, the control system can initiate and control the movement of the storage container support between the first and second positions. Furthermore, the control system can initiate and control the movement of a remotely operated vehicle on the track system.

[0098] Using such remotely operated vehicles in automated storage and retrieval systems can provide a solution for reducing queues or congestion by transporting storage containers from the excavation point to or near the port. Furthermore, remotely operated vehicles can be removed from roads and cause minimal obstruction when not needed.

[0099] In summary, the present invention provides a remotely operated vehicle capable of changing the coverage area according to the load of the storage container. Furthermore, the vehicle can arrange storage container supports at positions for receiving storage containers from a conveying device. Attached Figure Description

[0100] The following figures are attached to aid in understanding the invention. The figures illustrate embodiments of the invention, which will now be described by way of example only, wherein:

[0101] Figure 1A This is a perspective view of an existing automated storage and retrieval system;

[0102] Figure 1B It is a plan view of two sets of single-rail tracks;

[0103] Figure 1C It is a plan view of two sets of double-guide rails;

[0104] Figure 1D This shows the dimensions of a single grid unit (e.g., W). C ×L C A floor plan;

[0105] Figure 2 This is a perspective view of a prior art remotely operated container handling vehicle having a centrally arranged cavity for carrying storage containers therein.

[0106] Figure 3 This is a perspective view of a prior art remotely operated container handling vehicle having a cantilever for carrying storage containers underneath.

[0107] Figure 4A and Figure 4B A perspective view of an exemplary base in the form of a wheeled base for remotely operated vehicles is shown;

[0108] Figure 5A and Figure 5B This is a side view of a remotely operated vehicle according to a first exemplary embodiment of the present invention, the remotely operated vehicle having a slidably mounted storage container support.

[0109] Figure 6A and Figure 6B This is a side view of a remotely operated vehicle according to a second exemplary embodiment of the present invention, the remotely operated vehicle having two slidably mounted storage container supports;

[0110] Figure 7A and Figure 7B They are based on Figure 6A and Figure 6B A perspective view of a remotely operated vehicle according to a second exemplary embodiment shown;

[0111] Figure 7C Is it like this? Figure 7B The perspective view of the remotely operated vehicle shown shows that no storage container is arranged on the storage container support, thus illustrating the movement mechanism of the slidably mounted storage container support.

[0112] Figure 7D yes Figure 7C The top detailed view of the moving mechanism is shown in the dashed circle in the image.

[0113] Figure 8A and Figure 8B This is a side view of a remotely operated vehicle according to a third exemplary embodiment of the present invention, the remotely operated vehicle having a pivotally mounted storage container support;

[0114] Figure 9A and Figure 9B This is a side view of a remotely operated vehicle according to a fourth exemplary embodiment of the present invention, the remotely operated vehicle having two pivotally mounted storage container supports;

[0115] Figures 10A to 10D This is a perspective view of a remotely operated vehicle according to a fifth exemplary embodiment of the present invention, the remotely operated vehicle having two storage container supports, one half of which is pivotally mounted;

[0116] Figure 11A and Figure 11B This is a side view of a remotely operated vehicle according to a sixth exemplary embodiment of the present invention, the remotely operated vehicle having a pivotally mounted storage container support and a slidably mounted storage container support.

[0117] Figure 12A and Figure 12B This is a side view of a remotely operated vehicle according to a seventh exemplary embodiment of the present invention, the remotely operated vehicle having two telescopically mounted storage container supports;

[0118] Figures 13A to 13C This is a side view of a remotely operated vehicle according to an eighth exemplary embodiment of the present invention, wherein the vehicle is a container transport vehicle having a centrally arranged cavity and two pivotally mounted storage container supports.

[0119] Figure 14A and Figure 14B They are based on Figure 13A and Figure 13B The image shows a perspective view of a remotely operated vehicle according to the eighth exemplary embodiment of the present invention;

[0120] Figure 15 This is a side view of a remotely operated vehicle according to a ninth exemplary embodiment of the present invention, wherein the vehicle is a container transport vehicle having a centrally arranged cavity and four pivotally mounted storage container supports.

[0121] Figure 16A and Figure 16B This is a perspective view of a remotely operated vehicle according to a tenth exemplary embodiment of the present invention, wherein the vehicle is a container transport vehicle having a centrally arranged cavity and two telescopically mounted storage container supports.

[0122] Figure 17A and Figure 17B This is a side view of a remotely operated vehicle according to an eleventh exemplary embodiment of the present invention, wherein the vehicle is a cantilevered container transport vehicle having a pivotally mounted storage container support.

[0123] Figure 18A and Figure 18B This is a side view of a remotely operated vehicle according to a twelfth exemplary embodiment of the present invention, wherein the vehicle is a cantilevered container transport vehicle having a slidably mounted storage container support.

[0124] Figure 19A and Figure 19B This is a perspective view of a remotely operated vehicle according to a thirteenth exemplary embodiment of the present invention, wherein the vehicle has a rotating turntable device for supporting three containers and a pivotally mounted storage container support.

[0125] Figures 20A to 20D This is a perspective view of a remotely operated vehicle according to a fourteenth exemplary embodiment of the present invention, wherein the vehicle has two rotatably mounted storage container supports.

[0126] Figure 21A and Figure 21B This is a perspective view of a remotely operated vehicle according to a fifteenth exemplary embodiment of the present invention, wherein the vehicle has a rotatably mounted storage container support.

[0127] Figures 22A to 22G A remotely operated vehicle according to a sixteenth exemplary embodiment of the present invention is shown, wherein the vehicle has two rotatably mounted storage container supports. Figure 22A and Figure 22G It is a perspective view of the vehicle. Figure 22B , Figure 22C , Figure 22D and Figure 22F It is a side view of the vehicle, and Figure 22E yes Figure 22D A detailed view of a connector in one of the rotatingly mounted storage container supports, shown by the dashed circle in the image.

[0128] Figure 23 It is based on Figure 7B The diagram shows a perspective view of a remotely operated vehicle according to a second or sixth exemplary embodiment of the present invention, the remotely operated vehicle having a weight distribution system having a load moving device for changing the center of gravity of the vehicle according to the load of one or two storage containers carried by the vehicle.

[0129] In the accompanying drawings, unless otherwise expressly stated or understood from the context, the same reference numerals are used to indicate the same parts, elements or features. Detailed Implementation

[0130] In the following, embodiments of the invention will be discussed in more detail with reference to the accompanying drawings. However, it should be understood that the drawings are not intended to limit the invention to the subject matter depicted therein.

[0131] Unless otherwise stated, the framework 100 of the automatic storage and retrieval system 1 is based on the above combination. Figures 1A to 1D The prior art framework 100 is described, namely, a plurality of upright members 102 defining a plurality of storage columns 105, and a track system 108 comprising parallel tracks 110, 111 arranged across the top of the storage columns 105 in the X and Y directions. More specifically, the track system 108 shows a plurality of grid units 122, each grid unit 122 including a grid opening 115 defined by a pair of tracks 110a, 110b of a first set of tracks 110 extending in a first direction X and a pair of tracks 111a, 111b of a second set of tracks 111 extending in a second direction Y. The coverage area of ​​a grid unit 122 includes a grid opening 115 and the defining portion of its tracks 110a, 110b, 111a, 111b, as shown. Figure 1C and Figure 1D As indicated in the document.

[0132] The frame structure 100 can be of any size. In particular, it should be understood that the frame structure can be much wider and / or much longer and / or much deeper than disclosed in Figure 1. For example, the frame structure 100 can have a horizontal range of more than 700 × 700 columns and a storage depth of more than 12 containers.

[0133] See Figure 2 and Figure 3 Multiple container handling vehicles 201, 301 can operate on the track system 108 to raise storage container 106 from storage column 105 and lower storage container 106 into storage column 105, as discussed in the background and prior art sections.

[0134] Furthermore, the remotely operated vehicle according to the invention is configured to operate on the track system 108.

[0135] Figure 4A and Figure 4BAn exemplary base 505 in the form of a wheeled base unit 505 for such a remotely operated vehicle according to an embodiment of the invention is shown. The wheeled base unit 505 is characterized by wheel arrangements 506a, 506b having a first set of wheels 506a for movement in a first horizontal direction X on a track system and a second set of wheels 506b for movement in a second horizontal direction Y perpendicular to the first direction X. Each set of wheels includes two pairs of wheels arranged on opposite sides of the wheeled base unit 505. To change the direction in which the wheeled base unit 505 can travel on the track system, one set of wheels 506b of these sets of wheels is connected to a wheel shifting assembly 507. The wheel shifting assembly 507 is capable of raising and lowering the connected set of wheels 506b relative to the other set of wheels 506a, such that the set of wheels traveling only in the desired direction contacts the track system. The wheel shifting assembly 507 is driven by an electric motor 508. In addition, two electric motors 509, 509' powered by a power source (e.g., a rechargeable battery 503) are connected to the set of wheels 506a, 506b to move the wheel base unit 505 in the desired direction.

[0136] Further reference Figure 4A and Figure 4B The dimensions of the horizontal perimeter of the wheel base unit 505 are designed to fit within the horizontal area defined by the grid unit, allowing two wheel base units 505 to pass over each other on any adjacent grid unit of the track system. In other words, the wheel base unit 505 can have a coverage area, i.e., the extent in the X and Y directions, which is approximately equal to the horizontal area of ​​a grid unit, i.e., the extent of the grid unit in the X and Y directions.

[0137] Vehicle 500 is configured to transport one or more storage containers (106— in) on a rail system. Figure 4A and Figure 4B (not shown), preferably transported on a rail system of an automated storage and retrieval system with multiple stacks of storage containers, such as Figure 1A As shown. Vehicle 500 is also configured to receive storage boxes from conveying devices such as operators, storage container handling vehicles, grippers, elevators, ports, or conveyor belts.

[0138] All exemplary embodiments of the vehicle 500 of the present invention shown in the accompanying drawings have a body 504 with a wheel base unit 505. The wheel base unit 505 can be as follows: Figure 4A and Figure 4BThe disclosed configuration includes a first set of wheels 506a arranged on opposite sides of the vehicle body 504 for moving the vehicle 500 along a first horizontal direction X on the track system 108, and a second set of wheels 506b arranged on other opposite sides of the vehicle body 504 or within the vehicle body 504 for moving the vehicle along a second horizontal direction Y on the track system, the second direction Y being perpendicular to the first direction X. Furthermore, the wheel base unit 505 can be the size of a grille unit.

[0139] However, other wheel-type base units with different configurations can also be used, such as those with a larger coverage area than the grille unit. Furthermore, the wheel-type base unit may include at least one set of wheels located within a cavity of the vehicle.

[0140] Now refer to Figure 5A and Figure 5B A first exemplary implementation of remotely operated vehicles will be discussed in more detail.

[0141] Figure 5A This is a side view of vehicle 500, where body 504 has wheel base units 505. Only the first set of wheels 506a is shown.

[0142] Furthermore, the vehicle has a storage container support 550 slidably mounted to the body 504. The sliding direction is indicated by a double arrow in a first direction X, but alternatively by a double arrow in a second direction Y. The sliding direction may also include a combination of the first direction X and the second direction Y, such that the storage container support extends diagonally. The first direction X equals the lateral movement of the first set of wheels 506a of the vehicle 500.

[0143] The storage container support 550, indicated by the dashed line, is shown in a first position P1, and the vehicle 500 has a first coverage area / vertical projection A as indicated. The first coverage area A may be equal to the horizontal extent of a single unit / one grille unit 122, such as... Figure 1B , Figure 1C and Figure 1D As shown.

[0144] When the sliding storage container support 550 is operated, the storage container support 550 moves from the first position P1 toward the second position P2.

[0145] Figure 5B The storage container support 550 is shown in the second position P2, on which the storage container 106 is arranged. As described above, the storage container 106 has been placed on the storage container support 550 by a conveying device (not shown).

[0146] As the storage container support 550 moves from the first position P1 toward the second position P2, the coverage area of ​​the vehicle 500 gradually increases, reaching a maximum second coverage area B at the second position P2.

[0147] Therefore, when the storage container support 550 is positioned at the first position P1, the first coverage area A of the vehicle 500 can be equal to the grid unit when the vehicle 500 is moving on the track system. However, when the storage container support 550 is positioned at the second position P2 and the storage container 106 is being transported, the second coverage area B of the vehicle 500 will be larger than the coverage area of ​​the grid unit / the first coverage area A. For example, the second coverage area B can be the size of up to two grid units.

[0148] In the operation of the first exemplary embodiment, when positioned at the second position P2, the vehicle 500 can travel to the conveying device to receive the storage container 106 onto the storage container support 550, or the storage container support 550 can be positioned at the second position P2 when the conveying device approaches the vehicle 500 to load the storage container 106 onto the storage container support 550. Therefore, the operation of a vehicle 500 not carrying a storage container 106 on the container support 550 occupies less space on the track system compared to a vehicle 500 carrying a storage container 106 on the container support. As those skilled in the art know, it is advantageous for the vehicle 500 operating in the storage system to have the smallest possible coverage area for the efficiency of the storage system.

[0149] Furthermore, where the conveying device cannot be arranged adjacent to the vehicle 500, a slidably mounted storage container support 550 can be particularly useful, and thus the storage container support 550 can enhance the loading of the storage container 106 by reducing the distance between the conveying device and the storage container support 550. An example of such a conveying device could be, for example, an operator or a conveyor belt, thereby minimizing the risk of the storage container 106 falling into the track system or injury to the operator.

[0150] Figure 6A and Figure 6B A second exemplary embodiment of the vehicle 500 of the present invention is shown.

[0151] Vehicle 500 is similar to vehicle 500 of the first exemplary embodiment, having the same body 504 with the same wheel base unit 505. The difference is that vehicle 500 of this second exemplary embodiment has two slidably mounted storage container supports 550, 550'; the first storage container support 550 and the second storage container support 550' are indicated by dashed lines.

[0152] Two storage container supports 550, 550' are arranged at their first positions P1, P1', and the vehicle 500 has a first coverage area A, which may be equal to a grid unit of the track system.

[0153] The double arrows indicate that the two storage container supports 550 and 550' slide in the first direction X. However, when moving from their respective first positions P1 and P1' to their respective second positions P2 and P2', the two storage container supports slide in opposite directions.

[0154] Therefore, by moving one or two storage container supports 550, 550' from the first position P1, P1' toward the second position P2, P2', the coverage area of ​​the vehicle 500 gradually increases.

[0155] Figure 6B Two storage container supports 550 and 550' are shown in their second positions P2 and P2', each carrying one storage container 106. When both storage container supports 550 and 550' are arranged in the second positions P2 and P2', the vehicle 500 has a maximum second coverage area B as shown. The second coverage area B can be greater than 1.5 grid units of the track system and can be approximately equal to two grid units of the track system.

[0156] Figure 7A and Figure 7B They are Figure 6A and Figure 6B The diagram shows a perspective view of the remotely operated vehicle 500.

[0157] The first storage container support 550 and the second storage container support 550' have a merging structure, which allows the first coverage area A of the vehicle 500 to be equal to the coverage area of ​​the wheel base unit 505.

[0158] The first storage container support 550 exhibits two protrusions 552a, 552b and two recesses 553a, 553b. Furthermore, the second storage container support 550' exhibits two protrusions 552a', 552b' configured to at least partially engage with the recesses 553a, 553b of the first storage container support 550. Additionally, the second storage container support 550' exhibits two recesses 553a', 553b' that at least partially engage with the protrusions 552a, 552b of the first storage container support 550. In the illustrated embodiment, when at least partially engaged in their first positions P1, P1', a gap / opening 554 exists between the first storage container support 550 and the second storage container support 550'. This gap 554 particularly allows an operator to access the wheel base unit 505 of the vehicle 500 to manually separate the two storage container supports 550, 550' if needed.

[0159] Figure 7BThe vehicle 500 is shown, wherein a first storage container support 550 and a second storage container support 550' are arranged at their second positions P2, P2', each storage container support having a storage container 106 disposed thereon, as shown Figure 6B As disclosed herein, and therefore vehicle 500 has a maximum second coverage area B, such as Figure 6B As described in [the text].

[0160] Figure 7C Is it like this? Figure 7B The perspective view of the remotely operated vehicle shown shows that no storage containers are arranged on the first storage container support 550 and the second storage container support 550', thus illustrating the moving mechanism 580 of the storage container supports 550, 550' that are slidably mounted within the wheel base unit 505.

[0161] Figure 7C Mobile mechanism 580 in Figure 7D The details are shown below. The moving mechanism shows a ball screw mechanism 580, which converts the rotational motion of the two longitudinal axes 582, 582' into linear motion of the first storage container support 550 and the second storage container support 550'.

[0162] In the ball screw mechanism 580 shown, the first storage container support 550 and the second storage container support 550' move simultaneously. However, the principle of this mechanism is known to those skilled in the art, so it is obvious that the two ball screw mechanisms can be installed independently to move the two storage container supports 550 and 550' respectively.

[0163] The first longitudinal shaft 582 has a first threaded section 582a connected to a first storage container support 550, and a second unthreaded section 582b rotatably fixed to a wheel base unit 505 of a container transport vehicle. The first storage container support has a nut (not shown) fixed to the first storage container support 550. The interaction between the nut and the rotating first threaded section 582a of the first longitudinal shaft 582 allows the first storage container support 550 to move linearly along the longitudinal direction of the first longitudinal shaft 582 along the longitudinal length of the first threaded section 582a.

[0164] The second longitudinal shaft 582' has a first threaded section 582a' connected to the second storage container support 550' and a second unthreaded section 582b' rotatably fixed to the wheel base unit 505 of the vehicle. The second storage container support has a nut (not shown) fixed to the second storage container support 550'. The interaction between the nut and the first threaded section 582a' of the rotation of the second longitudinal shaft 582' allows the second storage container support 550' to move linearly along the longitudinal direction of the second longitudinal shaft 582' along the longitudinal length of the first threaded section 582a'.

[0165] The unthreaded section 582b of the first longitudinal shaft 582 and the second unthreaded section 582b' of the second longitudinal shaft 582' are rotatably fixed to the opposite side of the wheel base unit 505 of the vehicle 500.

[0166] Both shafts 582 and 582' move indirectly in the rotational direction via a so-called belt and pinion mechanism. This belt and pinion mechanism is driven by a motor 588, which operates a central longitudinal rod / pinion 587 to move by rotational motion. The central longitudinal rod 587 interacts with the first shaft 582 via a first belt 585 and with the second rod 582' via a second belt 585'. The rotational motion of the central longitudinal rod 587 causes movement of the first belt 585 and the second belt 585', resulting in rotation of the first shaft 582 and the second shaft 582', respectively.

[0167] The central longitudinal rod 587 is supported at its first end segment 587a by a first bracket 583 and at its second end segment 587b by a second bracket 583'. The first bracket has an opening through which the first end segment 587a passes, and the second bracket has an opening through which the second end segment 587b passes. Both end segments 587a and 587b have pinion structures for moving the first belt 585 and the second belt 585', respectively. Furthermore, the first bracket 583 supports a first shaft 582, which passes through the opening in the first bracket 583, such that when the first belt 585 extends between and partially around the first end segment 587a of the central longitudinal rod 587, and the third segment 582c of the first shaft 582, the third segment 582c of the first shaft 582 interacts with the first belt 585. The second bracket 583' supports the second shaft 582'. Because the second shaft 582' passes through the opening of the second bracket 583', the third segment 582c' of the second shaft 582', which has a pinion structure, interacts with the second belt 585' when the second belt 585' extends between and partially around the second end segment 587b of the central longitudinal rod 587. Therefore, when the central longitudinal rod 587 is rotated, the first belt 585 rotates the first shaft 582 and the second belt 585' rotates the second shaft 582'.

[0168] Since the first longitudinal shaft 582 and the second longitudinal shaft 582' have threads that rotate in opposite directions, the first rotating thread 582 causes the first storage container support 550 to move in a first direction, and the second rotating thread 582' causes the second storage container support 550' to move in the opposite second direction, both along the first direction X.

[0169] In the operation of the second exemplary embodiment, when positioned at its second positions P2, P2', the vehicle 500 can travel to the conveying device for receiving the storage container 106 onto the storage container supports 550, 550', or when the conveying device approaches the vehicle 500 for loading the storage container 106 onto the storage container supports 550, 550', the vehicle 500 can position the storage container supports 550, 550' at its second positions P2, P2'. Due to the slidably mounted storage container supports 550, 550', more than one storage container 106 can be carried by the vehicle 500, and the vehicle 500 has a larger coverage area when carrying storage containers 106 than when not carrying storage containers 106. Therefore, the operation of the vehicle 500 without carrying storage containers 106 on the storage container supports 550, 550' occupies less space on the track system than the operation of the vehicle 500 carrying storage containers 106 on the storage container supports 550, 550'. As is known to those skilled in the art, it is advantageous for the vehicle 500 operating in the system to have the smallest possible coverage area for the efficiency of the storage system.

[0170] Where the conveyor cannot be arranged close to the vehicle 500, the slidably mounted storage container supports 550, 550' are particularly useful, thus enhancing the loading capacity of the storage container 106 by reducing the distance between the storage container supports 550, 550' and the conveyor. For example, if the conveyor is a conveyor belt or an operator, the risk of the storage container falling into the grid or the operator being injured can be minimized.

[0171] Figure 8A and Figure 8B A remotely operated vehicle 500 according to a third exemplary embodiment of the present invention is shown.

[0172] Vehicle 500 is similar to vehicle 500 of the first exemplary embodiment, having the same body 504 with the same wheel base unit 505. The difference is that vehicle 500 of this third exemplary embodiment has a pivotally mounted storage container support 550.

[0173] exist Figure 8AIn the middle, the storage container support 550 is arranged at the first position P1, and the first coverage area A of the vehicle 500 is equal to the coverage area of ​​the wheel base unit 505, which can be the size of a grid unit of the track system.

[0174] The storage container support 550 is connected to the vehicle body 504 via a pivot connector 590 and is pivotally movable about a pivot point PP of the pivot connector 590. The pivoting motion is indicated by a double arrow pointing to the pivoting direction D. Therefore, the storage container support can be pivotally moved as follows: Figure 8A The main vertical first position P1 shown and as follows Figure 8B The operation is between the second position P2 shown in the figure. Therefore, compared with the second coverage area B when the storage container support 550 is arranged in the second position P2 holding the storage container 106, the vehicle 500 has a smaller first coverage area A when the storage container support 550 is empty, that is, when the storage container 106 is not being carried in the first position P1.

[0175] In the operation of the third exemplary embodiment, when positioned at the second position P2, the vehicle 500 can travel to the conveying device to receive the storage container 106 onto the storage container support 550, or the storage container support 550 can be positioned at the second position P2 when the conveying device approaches the vehicle 500 to load the storage container 106 onto the storage container support 550. Therefore, the operation of a vehicle 500 without a storage container 106 on the storage container support 550 occupies less space on the track system compared to a vehicle 500 carrying the storage container 106 on the storage container support 550.

[0176] The pivotally mounted storage container support 550 is particularly useful when the conveyor cannot be positioned close to the vehicle 500, thus enhancing the loading of the storage container 106 by reducing the distance between the conveyor and the storage container support 550. An example of such a conveyor may be, for example, an operator or a conveyor belt, thereby minimizing the risk of the storage container 106 falling into the track system or injury to the operator.

[0177] Figure 9A and Figure 9B A fourth exemplary embodiment of the vehicle 500 of the present invention is shown, which is similar to the third exemplary embodiment except that the vehicle 500 has two pivotally mounted storage container supports 550, 550' instead of one storage container support.

[0178] Also in this embodiment, vehicle 500 is similar to vehicle 500 of the first exemplary embodiment, having the same body 504 with the same wheel base unit 505.

[0179] like Figure 9A As shown, when the first storage container support 550 and the second storage container support 550' are arranged at their respective first positions P1, P1', the first coverage area A of the vehicle 500 corresponds to the coverage area of ​​the wheel base unit 505 of the vehicle 500.

[0180] The first storage container support 550 is pivotally mounted to the vehicle body 504 at the first pivot connector 590, thereby allowing the first storage container support 550 to pivot about the first pivot point PP between the first position P1 and the second position P2 of the first storage container support 550.

[0181] The second storage container support 550' is pivotally mounted to the same vehicle body 504 at the second pivot connector 590', thereby allowing the second storage container support 550' to pivot about the second pivot point PP' between the first position P1' and the second position P2' of the second storage container support 550'.

[0182] As the first storage container support 550 and the second storage container support 550' move from the first positions P1, P1' toward the second positions P2, P2', the coverage area of ​​the vehicle 500 gradually increases until it reaches the maximum coverage area B when the two storage container supports 550, 550' are positioned at their second positions P2, P2'.

[0183] One storage container support 550, 550' can be moved at this time, or both storage container supports 550, 550' can be moved simultaneously.

[0184] The double arrows indicate that both storage container supports 550 and 550' pivotally move in pivotal directions D and D'. When moving from their respective first positions P1 and P1' to their respective second positions P2 and P2', the two storage container supports 550 and 550' move on opposite sides of the vehicle 500. Therefore, when both storage container supports 550 and 550' are in their second positions P2 and P2', they extend from the vehicle in opposite directions along the first direction X.

[0185] In the operation of the fourth exemplary embodiment, when positioned at its second positions P2, P2', the vehicle 500 can travel to the conveying device for receiving the storage container 106 onto the storage container supports 550, 550', or when the conveying device approaches the vehicle 500 for loading the storage container 106 onto the storage container supports 550, 550', the vehicle 500 can position the storage container supports 550, 550' at its second positions P2, P2'. Due to the pivotally mounted storage container supports 550, 550', more than one storage container 106 can be carried by the vehicle 500, and the vehicle 500 has a larger coverage area when carrying storage containers 106 than when not carrying storage containers 106. Therefore, the operation of the vehicle 500 without carrying storage containers 106 on the storage container supports 550, 550' occupies less space on the track system than the vehicle 500 carrying storage containers 106 on the storage container supports 550, 550'. As is known to those skilled in the art, it is advantageous for the vehicle 500 operating in the system to have the smallest possible coverage area for the efficiency of the storage system.

[0186] The pivotally mounted storage container supports 550, 550' are particularly useful when the conveyor cannot be arranged close to the vehicle 500. Therefore, the storage container supports 550, 550' can enhance the loading capacity of the storage container 106 by reducing the distance between the storage container supports 550, 550' and the conveyor. For example, if the conveyor is a conveyor belt or an operator, the risk of the storage container falling into the grid or operator injury can be minimized.

[0187] Figures 10A to 10D This is a perspective view of a remotely operated vehicle 500 according to a fifth exemplary embodiment of the present invention, the remotely operated vehicle having two storage container supports 550, 550', half of each storage container support 550, 550' being pivotally mounted therein.

[0188] Watch Figure 10A Vehicle 500 is positioned on track system 108. Vehicle 500 has a first minimum coverage area equal to one grid unit of track system 108. Two storage container supports 550, 550' are positioned at their first locations P1, P1'.

[0189] The first storage container support 550 is divided into two halves, namely the first half 555a and the second half 555b (see...). Figure 10C Furthermore, the second storage container support 550' is divided into two halves, namely the first half 555a' and the second half 555b' (see...). Figure 10C ).

[0190] The first half 555a of the first storage container support 550 is fixed to the vehicle body 504, while the second half 555b is fixed to the first half 555a via the first pivot connector 590, thereby allowing the second half 555b to pivot about the first pivot point PP between the first position P1 and the second position P2.

[0191] Furthermore, the first half 555a' of the second storage container support 550' is fixed to the vehicle body 504, while the second half 555b' is fixed to the first half 555a' via the second pivot connector 590', thereby allowing the second half 555b' to pivot about the second pivot point PP' between the first position P1' and the second position P2'.

[0192] Because the second pivot connector 590' operates in a similar manner, only regarding Figure 10B The first storage container support 550 shows the operating mechanism of the first pivot connector 590.

[0193] The first pivoting connector 590 includes a rotatable shaft 591 attached to a first half 555a of a first storage container support 550 via a tilting mechanism 593 and secured to the second half 555b by two longitudinally extending arms 592a, 592b extending below the second half 555b. The second half 555b can pivotally move between a first position P1 and a second position P2 by rotating the shaft 591 via the tilting mechanism 593. Furthermore, the arms 592a, 592b have extensions 592c extending in opposite directions below the first half 555a of the storage container support 550 when the storage container support 550 is positioned in the second position P2, thereby preventing pivoting movement from continuing in the same direction after the storage container support 550 has moved from the first position P1 to the second position P2.

[0194] The tilting mechanism 593 can be driven, for example, by a belt, which can be driven by a belt with respect to... Figure 7C and Figure 7D The sliding mechanism discussed is similar to the actuator's electrical operation.

[0195] Those skilled in the art will recognize that there are a variety of possibilities to choose from for tilting the storage container support by means of an actuator, and therefore the mechanism itself will not be discussed in further detail.

[0196] Figure 10B The second storage container support 550' in the second position P2' is further shown. Therefore, the coverage area of ​​the vehicle 500 is larger than... Figure 10A The coverage area of ​​500 vehicles. Figure 10B The coverage area of ​​the vehicle in the system can be, for example, the size of a half-grid unit of the track system 108.

[0197] exist Figure 10C In the middle, the two storage container supports 550 and 550' are arranged in the second position P2 and P2', so the vehicle 500 shows the maximum coverage area, which can be the two grid units of the track system 108.

[0198] Figure 10D Two storage container supports 550, 550' arranged at the second positions P2, P2' are also shown. Furthermore, in Figure 10D In the middle, each storage container support 550, 550' carries storage container 106.

[0199] Regarding the operation of the fourth exemplary embodiment, the operation of the fifth exemplary embodiment of the vehicle 500 may include driving the vehicle to the conveying device for receiving the storage container 106 onto the storage container supports 550, 550' when positioned at its second positions P2, P2', or positioning the storage container supports 550, 550' at its second positions P2, P2' when the conveying device approaches the vehicle 500 for loading the storage container 106 onto the storage container supports 550, 550'. Due to the pivotally mounted storage container supports 550, 550', more than one storage container 106 can be transported by the vehicle 500, and the vehicle 500 has a larger coverage area when transporting the storage container 106 than when not transporting the storage container 106. Therefore, the operation of a vehicle 500 not carrying storage container 106 on storage container supports 550, 550' occupies less space on the track system than a vehicle 500 carrying storage container 106 on storage container supports 550, 550'. As those skilled in the art know, it is advantageous for the vehicle 500 operating in the storage system to have the smallest possible coverage area for the efficiency of the storage system.

[0200] Furthermore, the pivotally mounted storage container supports 550, 550' are particularly useful when the conveyor cannot be arranged adjacent to the vehicle 500. Thus, the storage container supports 550, 550' enhance the loading capacity of the storage container 106 by reducing the distance between the storage container supports 550, 550' and the conveyor. For example, if the conveyor is a conveyor belt or an operator, the risk of the storage container falling into the grid or operator injury can be minimized.

[0201] Figure 11A and Figure 11B This is a side view of a remotely operated vehicle according to a sixth exemplary embodiment of the remotely operated vehicle 500 of the present invention, showing a slidably mounted storage container support 550 and a pivotally mounted storage container support 550'.

[0202] Vehicle 500 has such Figure 5AThe first exemplary embodiment of the wheel base unit 505 is shown.

[0203] exist Figure 11A In this configuration, two storage container supports 550 and 550' are both arranged at their first positions P1 and P1', and the coverage area of ​​the vehicle 500 is equal to the coverage area of ​​the wheel base unit 505. Therefore, when both storage container supports 550 and 550' are arranged at their first positions P1 and P1', the vehicle has a minimum coverage area.

[0204] Figure 11B Two storage container supports 550, 550' are shown arranged at their second positions P2, P2', and the vehicle has a maximum coverage area. This maximum coverage area can, for example, be greater than 1.5 grille units, and can even be substantially equal to... Figure 1A The two grid units are indicated in the middle. Similarly, in this embodiment, the storage container supports 550, 550' extend in opposite directions in the first direction X, and each storage container support 550, 550' carries the storage container 106.

[0205] The operation of the slidable first storage container support 550 and the pivotable second storage container support 550' can be respectively similar to Figure 7C and Figure 10B The motion shown is known to those skilled in the art.

[0206] Furthermore, the operation of the vehicle is similar to that disclosed in the second and fourth exemplary embodiments.

[0207] Figure 12A and Figure 12B This is a side view of a remotely operated vehicle 500 according to a seventh exemplary embodiment of the present invention, the remotely operated vehicle having two telescopically mounted storage container supports 550, 550'. However, those skilled in the art will understand that the vehicle 500 may have only one telescopic storage container support.

[0208] exist Figure 12A In the middle, two storage container supports 550, 550' are arranged at their first positions P1, P1' indicated by dashed lines, and the vehicle 500 has a first coverage area A, which may be equal to the grid unit of the track system.

[0209] The double arrows indicate that both storage container supports 550 and 550' move telescopically in the first direction X. However, when moving from their respective first positions P1 and P1' to their respective second positions P2 and P2', the two storage container supports 550 and 550' move in opposite directions, similar to... Figure 6A and Figure 6BThe second exemplary embodiment is shown.

[0210] Therefore, by moving one or two storage container supports 550, 550' from the first position P1, P1' toward the second position P2, P2', the coverage area of ​​the vehicle 500 gradually increases.

[0211] Figure 12B Two storage container supports 550, 550' are shown in their second positions P2, P2', each carrying one storage container 106. When both storage container supports 550, 550' are arranged in the second positions P2, P2', the vehicle 500 has a maximum second coverage area B as shown. The second coverage area B can be equal to the size of two grid units of the track system.

[0212] The telescopic movement of the storage container supports 550, 550' can be similar to the movement of, for example, a scissor lift or telescopic boom lift operating in the horizontal direction, and can be operated by an electrically driven actuator.

[0213] In the operation of the fourth exemplary embodiment, when positioned at its second positions P2, P2', the vehicle 500 can travel to the conveying device for receiving the storage container 106 onto the storage container supports 550, 550', or when the conveying device approaches the vehicle 500 for loading the storage container 106 onto the storage container supports 550, 550', the vehicle 500 can position the storage container supports 550, 550' at its second positions P2, P2'. Due to the pivotally mounted storage container supports 550, 550', more than one storage container 106 can be carried by the vehicle 500, and the vehicle 500 has a larger coverage area when carrying storage containers 106 than when not carrying storage containers 106. Therefore, the operation of the vehicle 500 without carrying storage containers 106 on the storage container supports 550, 550' occupies less space on the track system than the vehicle 500 carrying storage containers 106 on the storage container supports 550, 550'. As is known to those skilled in the art, it is advantageous for the vehicle 500 operating in the system to have the smallest possible coverage area for the efficiency of the storage system.

[0214] The pivotally mounted storage container supports 550, 550' are particularly useful when the conveyor cannot be arranged close to the vehicle 500. Therefore, the storage container supports 550, 550' can enhance the loading capacity of the storage container 106 by reducing the distance between the storage container supports 550, 550' and the conveyor. For example, if the conveyor is a conveyor belt or an operator, the risk of the storage container falling into the grid or operator injury can be minimized.

[0215] The operation of vehicle 500 can be similar to that disclosed in the second and fourth exemplary embodiments.

[0216] Figures 13A to 13C This is a side view of a remotely operated vehicle 500 according to an eighth exemplary embodiment of the present invention. In this embodiment, the vehicle is a remotely operated container transport vehicle 500.

[0217] The container handling vehicle 500 shows a body 504, which has a cavity 560 for receiving storage containers 106 from a storage location within a storage grid below the track system and transporting the storage containers to that storage location. Therefore, the cavity has a lifting device for this operation. Figures 13A to 13C (Not shown in the image). This operation is known to those skilled in the art and will not be discussed in detail.

[0218] In addition, the wheel base unit 505 shows two stabilizing structures, a first stabilizing structure 520 and a second stabilizing structure 520', and the vehicle body 504 shows two pivotally mounted storage container supports, a first storage container support 550 and a second storage container support 550', which are fixed to the outer surface of the vehicle body 504 by pivoting connectors 590, 590'.

[0219] Instead of the stabilizing structures 520, 520' shown, or other than the stabilizing structures, the storage container supports 550, 550' may include support wheels (not shown) that are pivotable from or mounted on the storage container support and extend vertically from below the storage container support for interaction with the track system.

[0220] exist Figure 13A In the middle, two storage container supports 550, 550' are arranged at their first positions P1, P1'. The first coverage area A of the vehicle 500 is equal to the coverage area of ​​the vehicle base 505 including the stabilizing structures 520, 520'. Coverage area A may be between Figure 1A The size of one grid unit and two grid units on the track system shown is, for example, the size of two grid units.

[0221] Figure 13B A first storage container support 550 arranged at its first position P1 and a second storage container support 550' arranged at its second position P2 are shown. Therefore, the vehicle 500 has an intermediate coverage area B' that is larger than the first coverage area A. The intermediate coverage area may, for example, be the size of two half-grille units.

[0222] As both storage container supports 550 and 550' move to their second positions P2 and P2', the coverage area increases until it reaches its maximum second coverage area B when both storage container supports 550 and 550' are positioned at their second positions P2 and P2'. Figure 13C As shown. This second coverage area can be, for example, the size of three grid units.

[0223] like Figure 13C As shown, the first stabilizing structure 520 of the vehicle base unit 505 extends directly below the first storage container support 550, and the second stabilizing structure 520' extends directly below the second storage container support 550', thereby ensuring the stability of the vehicle 500 and preventing it from tilting. Therefore, the two stabilizing structures 520, 520' extend from opposite sides 504a, 504b of the vehicle body 504 along the horizontal plane of the grille structure in the first direction X. Each storage container support 550, 550' carries the storage container 106. Furthermore, a vehicle lift (in...) is located within the cavity 560. Figure 13C (Not shown) The vehicle 500 carries storage containers 106. Thus, the vehicle 500 carries three storage containers 106. The storage containers 106 arranged on the storage container supports 550, 550' are arranged thereon by a conveyor (not shown), while the storage containers 106 in the cavity 560 can be picked up from the vehicle lift of the vehicle 500 itself.

[0224] When positioned at the second positions P2, P2', the first storage container support 550 and the second storage container support 550' extend in the first horizontal direction X. Furthermore, each stabilizing structure 520, 520' extends the total length L of each storage container support 550, 550'. S Approximately 50%.

[0225] The pivoting connections 590 and 590' that connect the storage container supports 550 and 550' to the vehicle body 504 are arranged on top of and adjacent to the stabilizing structures 520 and 520'.

[0226] Figure 14A and Figure 14B They are based on Figure 13A and Figure 13B The image shows a perspective view of a remotely operated vehicle according to the eighth exemplary embodiment of the present invention.

[0227] like Figure 14A As shown, the first storage container support 550 pivots about axis 591 of the first pivot connector 590, which can be similar to... Figures 10A to 10D The pivoting semi-storage container support operates as disclosed. Since this operation is known to those skilled in the art, it will not be discussed further.

[0228] Vehicle 500 has a body 504, within which a cavity 560 is centrally located, and a roof 512 covers the top of the body 504. A first set of four wheels 506a is mounted parallel to the outer walls of a first stabilizing structure 520 and a second stabilizing structure 520', and a second set of four wheels 506b is mounted parallel to the inner wall of the body 504 on the inner side of the cavity 560. The first set of wheels 506a and the second set of wheels 506b are oriented perpendicularly to each other.

[0229] As shown in the figure, the wheel base unit 505 differs from the wheel base units disclosed in the first to seventh exemplary embodiments described above. A second set of wheels 506b is arranged within the cavity 560 to ensure that the coverage area of ​​the wheel base unit 505 is as small as possible when the storage container supports 550, 550' are positioned at their first positions P1, P1'. A first set of wheels 506a, arranged to allow the vehicle to move along the first direction X, is positioned outside the wheel base unit 505.

[0230] The operation of vehicle 500 can be similar to that of the fourth exemplary embodiment of vehicle 500, except that vehicle 500 is also configured to move storage container 106 into and out of storage columns.

[0231] Figure 15 This is a side view of a remotely operated container handling vehicle 500, similar to the remotely operated container handling vehicles shown in Figures 13 and 14. However, according to... Figure 15 The vehicle 500 shown in the ninth exemplary embodiment of the present invention displays four pivotally mounted storage container supports 550, 550', 550"'. Two storage container supports, namely the first storage container support 550 and the second storage container support 550', are arranged as shown in the eighth embodiment, having pivotal connectors 590, 590' arranged above the stabilizing structures 520, 520'. The other two storage container supports, namely the third storage container support 550" and the fourth storage container support 550"', are respectively arranged directly above the first storage container support 550 and the second storage container support 550', and are separated at a height greater than the height of one storage container 106.

[0232] In the operation of the vehicle according to the ninth exemplary embodiment, when the vehicle 500 is positioned at its second positions P2, P2', P2”, P2”', the vehicle 500 can travel to the conveying device for receiving the storage container 106 on the storage container support 550, 550', 550”, 550”', or when the conveying device approaches the vehicle 500 for loading the storage container 106 onto the storage container support 550, 550', 550”, 550”', the vehicle 500 can position the storage container support 550, 550', 550”, 550”' at its second positions P2, P2', P2”, P2”'. Because of the four pivotally mounted storage container supports 550, 550', 550"', and 550"', four storage containers 106 can be carried by the storage container supports 550, 550', 550"' of the vehicle 500, and the vehicle 500 has a larger coverage area when carrying storage containers 106 on the storage container supports 550, 550', 550"' compared to when no storage containers 106 are carried on the storage container supports 550, 550', 550"'. Therefore, the operation of the vehicle 500 without carrying storage containers 106 on the storage container supports 550, 550', 550"' occupies less space on the track system compared to the operation of the vehicle 500 without carrying storage containers 106 on the storage container supports 550, 550', 550"'. As is known to those skilled in the art, it is advantageous for the vehicle 500 operating in the system to have the smallest possible coverage area for the efficiency of the storage system.

[0233] The vehicle 500 may also carry the storage container 106 within the cavity 560 of the vehicle 500, as disclosed in the eighth exemplary embodiment. Furthermore, the vehicle 500 may also carry the container 106 on the roof 512 of the vehicle body 504.

[0234] The pivotally mounted storage container supports 550, 550', 550”, 550”' are particularly useful when the conveying device cannot be arranged adjacent to the vehicle 500 as disclosed in the first exemplary embodiment.

[0235] Figure 16A and Figure 16B This is a perspective view of a remotely operated container transport vehicle 500 according to a tenth exemplary embodiment of the present invention. The vehicle body is the same as that shown in the eighth embodiment in Figures 13 and 14, but the vehicle 500 shows two telescopically mounted storage container supports 550, 550'.

[0236] Storage container supports 550 and 550' are arranged directly above and adjacent to the two support structures 520 and 520'. Furthermore, the two storage container supports 550 and 550' extend in a first direction X in opposite directions to each other.

[0237] exist Figure 16A In the diagram, both storage container supports 550 and 550' are in their first retracted positions P1 and P1', respectively. A double arrow indicates the direction in which the retractable first storage container support 550 moves between the first position P1 and the second position P2. In this first position, the horizontal extent of the first storage container support 550 and the second storage container support 550' in the horizontal plane is smaller than that of the first support structure 520 and the second support structure 520', respectively. Therefore, when the storage container supports 550 and 550' are arranged in their first positions P1 and P1', the first coverage area of ​​the vehicle 500 is equal to the coverage area of ​​the vehicle body 504, which includes the first stabilizing structure 520 and the second stabilizing structure 520'.

[0238] exist Figure 16B In the middle, the first storage container support 550 is arranged at the second position P2. Therefore, the coverage area of ​​the vehicle 500 is larger than... Figure 16A The coverage area of ​​the vehicle, because it also involves the coverage area of ​​the first storage container support 550 extending beyond the coverage area of ​​the vehicle body 504.

[0239] In the operation of the tenth exemplary embodiment, the vehicle 500 is similar to the operation of the ninth exemplary embodiment.

[0240] Figure 17A and Figure 17B This is a side view of a remotely operated vehicle 500 according to an eleventh exemplary embodiment of the present invention, wherein the remotely operated vehicle 500 is a cantilevered remotely operated container transport vehicle 500 having a pivotally mounted storage container support 550. Figure 3 An example of a similar cantilevered container transport wheel is shown. The vehicle according to the eleventh embodiment has a lifting device 510 for raising the container 106 to a position below the cantilever 530 and lowering the container from the position below the cantilever.

[0241] Figure 17A and Figure 17B The cantilever vehicle 500 shown Figure 3 The difference between the vehicles is that the vehicle 500 has a different wheel base unit 505, and the vehicle 500 also includes a pivotally mounted storage container support 550.

[0242] The vehicle body 504 has a vertical extension structure 511 extending from the base 505. A cantilever 530 is fixed to the vertical extension structure 511 at its upper end. Below the cantilever 530 is a lifting device 510 for raising the storage container 106 to a position below the cantilever 530 and lowering the storage container from below the cantilever.

[0243] Figure 17A A storage container support 550, arranged in a first position P1, is shown having a vertical portion and is primarily arranged in a vertical third direction Z. The storage container support 550 is pivotally mounted to the vehicle body 504 via a pivot connector 590 showing a pivot point PP, about which the storage container support 550 pivots as it moves between the first position P1 and the second position P2.

[0244] The vehicle includes a wheeled base unit 505 with a stabilizing structure 520 for stabilizing the vehicle 500, particularly preventing the vehicle 500 from tilting. The stabilizing structure 520 extends in a first horizontal direction X in a first horizontal plane.

[0245] When the storage container support 550 is as follows Figure 17B When arranged in the second position P2, the storage container support 550 is positioned directly above and adjacent to the stabilizing structure 520.

[0246] As shown in the figure, when the storage container support 550 is arranged in the first position P1, the vehicle has a minimum first coverage area A, and when the storage container support 550 is arranged in the second position P2, the vehicle has a second maximum coverage area B.

[0247] When the storage container support 550 is positioned at the second position P2, the cantilever 530 of the vehicle 500 extends in the first horizontal direction X in the opposite direction to the storage container support 550. Figure 17B As shown, the cantilever 530 is positioned on the opposite side of the vehicle body 504 compared to the position of the storage container support 550.

[0248] The first coverage area A of vehicle 500 is shown as approximately 2.3 times the size of a grille unit. This is primarily because the width of the vertical extension structure 511 along the first direction X may be smaller than the width shown. If the vehicle includes a vertical extension structure of smaller width, the size of the wheel base unit can also be reduced, such that the first coverage area A can be 1.5 to 2 times the size of a grille unit.

[0249] In the operation of the vehicle 500 according to the eleventh exemplary embodiment, when positioned at its second position P2, the vehicle 500 can travel to the conveying device for receiving the storage container 106 onto the storage container support 550, or the vehicle 500 can position the storage container support 550 at its second position P2 when the conveying device approaches the vehicle 500 for loading the storage container 106 onto the storage container support 550. The vehicle 500 has a larger coverage area when carrying the storage container 106 on the storage container support 550 compared to when it is not carrying the storage container 106, because the storage container support 550 would be positioned at the first position P1. Therefore, the operation of the vehicle 500 without carrying the storage container 106 on the storage container support 550 occupies less space on the track system compared to the operation of the vehicle 500 carrying the storage container 106 on the storage container support 550. As those skilled in the art know, it is advantageous for the vehicle 500 operating in the storage system to have the smallest possible coverage area for the efficiency of the storage system.

[0250] The pivotally mounted storage container support 550 is particularly useful when the conveying device cannot be arranged adjacent to the vehicle 500 as disclosed in the first exemplary embodiment.

[0251] Figure 18A and Figure 18B This is a side view of a remotely operated vehicle 500 according to a twelfth exemplary embodiment of the present invention. The vehicle 500 is very similar to the vehicle of the eleventh exemplary embodiment, which is a cantilevered container transport vehicle. The difference between the eleventh and twelfth exemplary embodiments is that the twelfth exemplary embodiment has a slidably arranged storage container support 550.

[0252] Figure 18A A slidably arranged storage container support 550 in a first position P1 is disclosed, and the vehicle 500 has a first minimum coverage area A, which can be approximately as follows: Figure 1A The size of the two half-grid units shown.

[0253] When the storage container support 550 is arranged as follows Figure 18B In the second position P2 shown, the cantilever 530 of the vehicle 500 extends in the first horizontal direction X in the opposite direction to the storage container support 550. When the storage container support is in the second position P2, the vehicle has a maximum second coverage area B that is larger than the first coverage area A. The second coverage area B may, for example, be the size of three grille units.

[0254] When positioned in the first position P1, the storage container support 550 can slide into a recess within the vehicle body 504. This sliding motion can be operated by a mechanism as shown for sliding the storage container support in the second exemplary embodiment.

[0255] Apart from the fact that the storage container support 550 is slidable rather than pivotally mounted, the operation of the vehicle 500 in the twelfth exemplary embodiment will be similar to that in the eleventh exemplary embodiment.

[0256] Figure 19A and Figure 19B This is a perspective view of a remotely operated vehicle 500 according to a thirteenth exemplary embodiment of the present invention, wherein the vehicle 500 has a rotating turntable device 540 and a pivotally mounted storage container support 550.

[0257] However, vehicle 500 may include only the rotating turntable device 540 and not the pivotally mounted storage container support 550, because it operates independently.

[0258] The rotating turntable device 540 shows a support column 541 fixed to the upper surface of the vehicle body 504. The support column 541 extends in a third vertical direction Z and includes three turntable arms 543 extending radially from the support column 541. Each turntable arm 543 is rotatably fixed to the support column 541 at a predetermined height via a rotatable connector 542 and has a storage container support 550', 550"', 550"' fixed thereto at another distal end. The storage container supports 550', 550"', 550"' are able to rotate together with the turntable arms 543 about the axis of rotation C of the support column 541. C It can move rotatably. Each arm 543 can be controlled and rotated independently. The rotary turntable device 421 can make the arm 543 move around the axis of rotation C. C It can rotate in both clockwise and counterclockwise directions. Furthermore, during rotation, the storage container supports 550', 550”, 550”' can always be arranged in a horizontal plane.

[0259] exist Figure 19A In the first storage container support 550, the second storage container support 550', the third storage container support 550” and the fourth storage container support 550”' are all arranged at their first positions P1, P1', P1” and P1”'.

[0260] The first storage container support 550 is a pivotally mounted storage container support 550, which is arranged in an upright position, that is, mainly arranged in the third vertical direction Z, similar to Figure 14AThe first storage container support is shown. The first storage container support is connected to the vehicle body 504 via a pivot connector 590, so that the first storage container support 550 can pivot about the pivot point PP.

[0261] The second storage container support 550', the third storage container support 550"', and the fourth storage container support 550"' are arranged above each other in a horizontal plane on top of the vehicle base 505. The rotating turntable device 540 having the second storage container support 550', the third storage container support 550"', and the fourth storage container support 550"' has a smaller coverage area than the coverage area of ​​the vehicle base unit 505. Therefore, when all the storage container supports 550, 550', 550"', 550"' are arranged in their first positions P1, P1', P1"', P1"' and are equal to the two grid units of the track system 108, the coverage area of ​​the vehicle 500 corresponds to the coverage area of ​​the vehicle base unit 505.

[0262] To accommodate multiple storage containers 106, the storage container supports 550, 550', 550”, 550”' can be moved to their second positions P2, P2', P2”, P2”', such as Figure 19B As shown.

[0263] The first storage container support 550 has been moved from the main vertical first position P1 to the main horizontal position P2, and when it is in position P2, the storage container 106 is arranged on the storage container support 550.

[0264] Each of the second storage container support 550', the third storage container support 550"', and the fourth storage container support 550"' has been rotated to the second positions P2', P2"', P2"' by the turntable arm 543. Each turntable arm 543 has two joints 543a and 543b, such that each of the second storage container support 550', the third storage container support 550"', and the fourth storage container support 550"' can be lowered or raised. The first joint 543a is arranged near the support post 541, and the second joint 543b is arranged near the storage container supports 550', 550"', 550"'.

[0265] The fourth storage container support 550”' is positioned outside the coverage area of ​​the vehicle body 504. The arm 543 has lowered the position of the fourth storage container support 550”' closer to the track system 108, which simplifies the loading of the storage container 106 onto the fourth storage container support 550”'.

[0266] When the second storage container support 550', the third storage container support 550"', and the fourth storage container support 550"' all rotate around the support column 541, they can all be positioned at the second position P2"' of the fourth storage container support 550"', as shown in Figure 19B As seen in the image, this facilitates the loading or unloading of storage container 106, and subsequently moves it to its own second position P2', P2".

[0267] The rotating turntable device 540 may include a mechanism for causing the turntable arm 543 about a vertical axis of rotation C. C A rotating turntable motor (not shown).

[0268] In the operation of the vehicle 500 according to the thirteenth exemplary embodiment, when positioned at its second positions P2, P2', P2”, P2”', the vehicle 500 can travel to the conveying device for receiving the storage container 106 onto the storage container supports 550, 550', 550”, 550”', or when the conveying device approaches the vehicle 500 for loading the storage container 106 onto the storage container supports 550, 550', 550”, 550”', the vehicle 500 can move the storage container supports 550, 550', 550”, 550”'. 550”' is arranged at its loading positions P2, P2”'. When the storage container supports 550, 550', 550”' carry four storage containers 106, the vehicle 500 has a larger coverage area than when it is not carrying storage containers 106. Therefore, the operation of the vehicle 500 without carrying storage containers 106 occupies less space on the track system than the vehicle 500 carrying storage containers 106. As those skilled in the art know, it is advantageous for the vehicle 500 operating in the storage system to have the smallest possible coverage area for the efficiency of the storage system.

[0269] In addition, such as in Figure 19B As seen in the diagram, the second position P2 of the first storage container support and the second position P2"' of the fourth storage container support 550"' are arranged at a horizontal height that is almost adjacent to or adjacent to the track system 108. Therefore, when the storage container supports 550, 550', 550"', 550"' are arranged in one of these positions, the conveying device for transporting the storage containers to the storage container supports 550, 550', 550"' can be as follows: Figure 3 The cantilevered container transport vehicle disclosed herein. The cantilevered portion of the vehicle, which includes a storage container on its upper level, may be arranged directly above one of the storage container supports 550, 550', 550”, 550”' and then the storage container is lowered onto the storage container supports 550', 550”, 550”'.

[0270] The operation of the storage container supports 550, 550', 550" and 550"' can be particularly useful when the conveying device cannot be arranged close to the vehicle 500 as disclosed in the first exemplary embodiment.

[0271] Figures 20A to 20D This is a perspective view of a remotely operated vehicle 500 according to the fourteenth exemplary embodiment, wherein the vehicle 500 has two rotatably mounted storage container supports 550, 550'.

[0272] Figure 20A A first storage container support 550 and a second storage container support 550' are disclosed arranged at their first positions P1, P1', and the coverage area of ​​the vehicle is equal to the coverage area of ​​the wheel base unit 505.

[0273] exist Figure 20B In the middle, the first storage container support 550 and the second storage container support 550' are arranged at their second positions P2, P2', so that they have both been rotated 180° in the horizontal plane, and the coverage area of ​​the vehicle 500 is larger than the coverage area of ​​the wheel base unit 505.

[0274] exist Figure 20C The diagram shows that when the storage container supports 500 and 550' are both positioned at the second positions P2 and P2', the vehicle 500 can carry three storage containers. Furthermore, Figure 20C The vehicle is shown arranged on the track system 108. When the two storage container supports 550, 550' are both arranged in the second positions P2, P2', the wheel base unit 505 has a coverage area equal to that of two grid units of the track system, while the vehicle has a coverage area equal to that of three grid units of the track system 108.

[0275] Storage container supports 550, 550' extend in opposite directions in the first direction X, and each shelf 550, 550'.

[0276] Figure 20D This is a perspective view of the vehicle 500 from below, and therefore a view from below the track system toward the wheel base unit 505. As shown, both storage container supports 550, 550' are connected to a motor 578 that provides rotational movement for the storage container supports 550, 550'.

[0277] Operation of a fourteenth exemplary embodiment of vehicle 500 may include driving the vehicle to a conveyor for receiving storage containers 106 on storage container supports 550, 550' when positioned at their second positions P2, P2', or positioning storage container supports 550, 550' at their second positions P2, P2' when the conveyor approaches vehicle 500 for loading storage containers 106 onto storage container supports 550, 550'. Due to the rotatably mounted storage container supports 550, 550', vehicle 500 can carry more than one storage container 106, i.e., one on each storage container support 550, 550', and one on top of the wheeled base unit 505 of vehicle 500. Vehicle 500 has a larger coverage area when carrying three storage containers 106 compared to when not carrying three storage containers 106. Therefore, the operation of a vehicle 500 without carrying storage containers 106 occupies less space on the track system compared to a vehicle 500 carrying three storage containers 106. As those skilled in the art know, it is advantageous for the vehicle 500 operating in the storage system to have the smallest possible coverage area for the efficiency of the storage system.

[0278] Furthermore, the rotatably mounted storage container supports 550, 550' are particularly useful when the conveying device cannot be arranged near the vehicle 500, as also disclosed with respect to the first exemplary embodiment.

[0279] Figures 21A to 21B This is a perspective view of a remotely operated vehicle 500 according to a fifteenth exemplary embodiment of the present invention.

[0280] Vehicle 500 has a rotatably mounted storage container support 550 connected to vehicle body 504 via a rotating shaft 571. The rotating shaft 571 is arranged on the side of vehicle body 504 such that when the storage container support 550 is positioned in a second position P2, the shaft 571 is positioned between vehicle body 504 and the storage container support 550, as shown below. Figure 21B As shown.

[0281] The rotating shaft is further connected to a motor (not shown) for rotating shaft 571. When the storage container support 550 is in the second position P2, the vehicle can carry two storage containers 106, such as... Figure 21B As shown.

[0282] When the storage container support is in the first position P1, the coverage area of ​​the vehicle 500 is equal to the coverage area of ​​the wheel base unit 505 including the axle 571. For example, it is possible to... Figure 21B As seen in the image, the coverage area is equivalent to one grid unit of the orbital system 108.

[0283] Operation of a fifteenth exemplary embodiment of vehicle 500 may include driving vehicle 500 to a conveyor for receiving storage container 106 on storage container supports 550, 550' when positioned at its second positions P2, P2', or positioning storage container supports 550, 550' at its second positions P2, P2' when the conveyor approaches vehicle 500 for loading storage container 106 onto storage container supports 550, 550'. Due to the rotatably mounted storage container supports 550, vehicle 500 may carry more than one storage container 106, i.e., one on storage container support 550 and one on top of the wheeled base unit 505 of vehicle 500.

[0284] Compared to when it is not carrying storage containers 106, vehicle 500 has a larger coverage area when carrying two storage containers 106. Therefore, the operation of vehicle 500 when not carrying storage containers 106 occupies less space on the track system compared to vehicle 500 carrying two storage containers 106. As those skilled in the art know, it is advantageous for vehicle 500 operating in the storage system to have the smallest possible coverage area for the efficiency of the storage system.

[0285] Furthermore, the rotatable storage container support 550 can be particularly useful when the conveying device cannot be arranged adjacent to the vehicle 500, as also disclosed with respect to the first exemplary embodiment.

[0286] Figures 22A to 22G This is a perspective view of a remotely operated vehicle according to a sixteenth exemplary embodiment of the present invention, wherein the vehicle 500 has two rotatably mounted storage container supports 550, 550', which are arranged above each other directly above the wheel base unit 505 of the vehicle 500 when arranged in their first positions P1, P1'.

[0287] Figure 22A Two storage container supports 550, 550' are shown arranged at first positions P1, P1', and the vehicle 500 has a minimum coverage area corresponding to the coverage area of ​​the wheel base unit 505, which also substantially corresponds to the size of a grid unit of the track system 108.

[0288] Figure 22B A first storage container support 550 is shown in an intermediate position between a first position and a second position, wherein the coverage area of ​​the vehicle 500 has been slightly increased. The first storage container support 550 has been moved in a horizontal first direction X and an upward vertical direction Z, such that the first storage container support extends slightly beyond the coverage area of ​​the wheel base unit 505.

[0289] Figure 22C The first storage container support 550 is shown in another intermediate position between the first and second positions, wherein the coverage area of ​​the vehicle 500 has been extended from... Figure 22B The position shown is further increased. Therefore, the first storage container support 550 has moved further in the vertical direction Z and the first horizontal direction X, such that the storage container support 550 has moved further beyond the coverage area of ​​the wheel base unit 505.

[0290] exist Figure 22D In the diagram, both storage container supports 550 and 550' are shown in their second positions P2 and P2', and the vehicle has a... Figure 22A , Figure 22B and Figure 22C The coverage area shown is the largest coverage area. The largest coverage area is equal to three grid units of the track system 108. Both storage container supports 550 and 550' carry the storage container 106 and are arranged to... Figure 22A The first positions shown are almost flush, and both extend beyond the coverage area of ​​the wheel base unit 505 in a first horizontal direction. The first storage container support 550 and the second storage container support 550' extend from the wheel base unit 505 in opposite directions.

[0291] In this second position P2, P2' of the storage container supports 550, 550', the storage container supports 550, 550' can receive the storage container 106 on the storage container support. Since the maximum coverage area of ​​the vehicle is the size of three grille units, there is also space for the storage container on top of the wheel base unit 505, such as... Figure 22G As shown.

[0292] Since the two storage container supports 550, 550' operate in the same way, only the operation of the first storage container support 550 will be explained in detail.

[0293] look Figure 22D and 22EThe first storage container support 550 is fixed to the wheel base unit 505 via a connector 573, which includes a first engagement bracket 574 attached to a first shaft 575 and a second shaft 576. The lower portion 574a of the first engagement bracket 574 is fixed to a first end 575a of the first shaft 575, and the lower portion 577a of the second engagement bracket 577 is fixed to a second end 575b of the first shaft 575. Furthermore, the upper portion 574b of the first engagement bracket 574 is fixed to a first end 576a of the second shaft 576, and the upper portion 577b of the second engagement bracket 577 is fixed to a second end 576b of the second shaft 576. The first engagement bracket 574 and the second engagement bracket 577 are rotatably mounted to the first shaft 575 and the second shaft 576 by screws or bolts.

[0294] Therefore, from the first storage container support 550 as... Figure 22A The first position P1 shown is moved to the position shown in the figure. Figure 22D During the second position P2 shown, the storage container support 550 is always kept in a horizontal plane due to the connectors 573, which include two shafts 576 and 575 connected to the same engagement brackets 574 and 577 at different heights.

[0295] As discussed above regarding the pivotally mounted storage container support, the movement of connector 573 can be initiated by an electric actuator.

[0296] Figure 22F This is a side view of vehicle 500, where each storage container support 500, 550' carries a storage container arranged at its highest position. The coverage area of ​​vehicle 500 corresponds to two grid units and is the minimum possible coverage area for a vehicle carrying two storage containers 106.

[0297] Figure 23 It is based on Figure 7B The diagram shows a perspective view of a remotely operated vehicle 500 according to a second and sixth exemplary embodiment of the present invention. The remotely operated vehicle has a weight distribution system with a load moving device (not shown) for changing the center of gravity of the vehicle 500 according to the load of one or two storage containers 106 carried by the vehicle 500.

[0298] The movable load is the storage container support 550, 550' arranged above the wheel base unit 505.

[0299] The center V of the vehicle C The center S of the storage container support is not shown. C Overlap, such as Figure 7BAs disclosed herein. Therefore, the storage container support has moved along a range in the first direction X, which is approximately 15% of the length of the vehicle body 505 along the first direction X.

[0300] Therefore, the vehicle's center of gravity has changed and the vehicle 500 remains stable.

[0301] Typically, according to any of the exemplary embodiments described above, when the storage container support 550 is arranged in the second position, the vehicle 500 has a larger capacity for carrying the storage container 106 and / or a better access for loading or unloading the storage container 106 onto or from the vehicle 500 via a conveyor.

[0302] Furthermore, according to all exemplary embodiments, vehicle 500 may also include a sensor that detects the presence of storage container 106 on storage container supports 550, 550', 550”, 550”'. Therefore, if storage container 106 is not present, vehicle 500 can automatically position storage container supports 550, 550', 550”, 550”' at first positions P1, P1', P1”, P1”', ensuring that the coverage area of ​​vehicle 500 is as small as possible.

[0303] Furthermore, the vehicle 500 in all the above embodiments may include a sensor that senses the coverage area of ​​the vehicle 500 in situ to calculate the fastest route from one location to another on the track system 108, taking into account the coverage area. All the above embodiments can operate as follows:

[0304] The conveying device can be close to the remotely operated vehicle 500 of the present invention, or the remotely operated vehicle 500 of the present invention can be close to the conveying device.

[0305] In either case, if vehicle 500 is empty, i.e., no storage container 106 is being transported on storage container support 550, storage container support 550 will be positioned at the first position P1. To load storage container 106 onto the storage container support, vehicle 500 moves the empty storage container support 550 to the second loading / unloading position P2. The conveying device can then place the storage container 106 onto the empty storage container support 550. After loading, vehicle 500 can move to another position on track system 108 for unloading storage container 106.

[0306] If the vehicle 500 includes a plurality of storage container supports 550, 550', 550"', 550"', each of the storage container supports 550, 550', 550"' may be arranged simultaneously or individually / respectively in their second positions for loading storage containers 106 into the storage container supports 550, 550', 550"', 550"'.

[0307] In the foregoing description, various aspects of the container handling vehicle and automated storage and retrieval system according to the invention have been described with reference to illustrative embodiments. Specific figures, systems, and configurations have been set forth for illustrative purposes to provide a full understanding of the system and its operation. However, this specification is not intended to be interpreted in a limiting sense. For example, although the term wheeled base unit having a first set of wheels and a second set of wheels has been used throughout the specification as an example, a belt base having a first belt and a second belt for guiding along a track system may be used alternatively. Various modifications and variations of the illustrative embodiments, as well as other embodiments of the system, that will be apparent to those skilled in the art to which the disclosed subject matter pertains, are considered to fall within the scope of these claims.

[0308] List of reference numerals

[0309] 1. Existing automated storage and retrieval systems

[0310] 100 Frame Structure

[0311] 102 Vertical / Upright Members of Frame Structures

[0312] 103 Horizontal members of frame structures

[0313] 104 Storage Grilles

[0314] 105 Storage Columns

[0315] 106 Storage Containers

[0316] 106' Specific location of the storage container

[0317] 107 Stacking

[0318] 108 Track System / Track System

[0319] 110 Parallel orbits in the first direction (X)

[0320] 110a First orbit in the first direction (X)

[0321] 110b Second orbit in the first direction (X)

[0322] 111 Parallel track in the second direction (Y)

[0323] 111a First track in the second direction (Y)

[0324] 111b Second orbit in the second direction (Y)

[0325] 115 Access opening / grille opening

[0326] 119 First Port Column

[0327] 120 Second Port Column

[0328] 122 grid units / single unit

[0329] 201 Container handling vehicles of the prior art

[0330] 201a Container Handling Vehicle 201 Body

[0331] 201b Drive unit / wheel arrangement in the first direction (X)

[0332] 201c Drive unit / wheel arrangement in the second direction (Y)

[0333] 301 Prior art cantilever container handling vehicles

[0334] 301a Container Handling Vehicle 301 Body

[0335] 301b Drive device in the first direction (X)

[0336] 301c Drive device in the second direction (Y)

[0337] 304 clamping device

[0338] 500 remotely operated vehicles

[0339] 503 rechargeable battery

[0340] 504 body

[0341] 505 Base / Wheel Base Unit

[0342] 506a First Group Drive Unit

[0343] 506b Second Drive Unit

[0344] 507 Shift Component

[0345] 508 motor

[0346] 509, 509' motor

[0347] 510 Lifting Device

[0348] 511 Vertical extension structure

[0349] 512 Top Cover

[0350] 515 Top Panel / Flange

[0351] 516 Center Opening

[0352] 517 Through Hole

[0353] 518 Electronic Control Unit

[0354] 520 Stable Structure

[0355] 530 cantilever

[0356] 532 Lifting Device

[0357] 540 Rotary turntable device

[0358] 541 Support Column

[0359] 542 Rotatable connector

[0360] 543 turntable arm

[0361] 543a First Connector

[0362] 543b second connector

[0363] 544 Hinged connector

[0364] 550 Storage Container Support / First Storage Container Support

[0365] 550' Second storage container support

[0366] 550” Third Storage Container Support

[0367] 550”' Fourth storage container support

[0368] 552a, 552b Protrusions of the first storage container support

[0369] 552a' and 552b' Protrusions of the second storage container support

[0370] Recesses of the first storage container support members 553a and 553b

[0371] Recesses of the second storage container support members 553a' and 553b'

[0372] 554 gap / opening

[0373] 555a First storage container support first half

[0374] 555a' Second half of the first storage container support

[0375] 555b Second Storage Container Support First Half

[0376] 555b' Second half of the second storage container support

[0377] 560 Central Cavity

[0378] 571 Rotatable Shaft

[0379] 573 Connector

[0380] 574 First joint bracket

[0381] 574a Lower part of the first joint bracket

[0382] 574b Upper part of the first joint bracket

[0383] 575 First Axis

[0384] 575a First end of the first shaft

[0385] The second end of the first shaft of 575b

[0386] 576 Second Axis

[0387] 576a Second Shaft First End

[0388] 576b Second end of the second shaft

[0389] 577 Second Connecting Bracket

[0390] 577a Lower part of the second connecting bracket

[0391] 577b Upper part of the second coupling bracket

[0392] 578 motor

[0393] 580 Moving Mechanism / Ball Screw Mechanism

[0394] 582 First longitudinal axis

[0395] 582' Second longitudinal axis

[0396] 582a First longitudinal shaft first thread section

[0397] 582a' First threaded section of the second longitudinal shaft

[0398] 582b First longitudinal shaft second unthreaded section

[0399] 582b' Second unthreaded section of the second longitudinal shaft

[0400] The third segment of the first longitudinal axis of 582c

[0401] 582c' The third segment of the second longitudinal axis

[0402] 583 First stent

[0403] 583' Second support

[0404] 584 First longitudinal bar

[0405] 584' Second longitudinal bar

[0406] 585 First Belt

[0407] 585' Second Belt

[0408] 587 Center longitudinal rod / pinion

[0409] The first end section of the central longitudinal bar of 587a

[0410] The second end section of the central longitudinal bar of 587b

[0411] 588 motor

[0412] 590 Pivoting Connector / First Pivoting Connector

[0413] 590' Second pivot connection

[0414] 590” Third Pivot Connection

[0415] 590”' Fourth pivot connector

[0416] 591 Rotatable Shaft

[0417] 592a Longitudinal Extension Arm

[0418] 592b longitudinal extension arm

[0419] 593 Tilting Mechanism

[0420] 900 Control System

[0421] A First Coverage Zone / Minimum Coverage Zone

[0422] B Second Coverage Zone / Maximum Coverage Zone

[0423] C C Vertical axis of rotation

[0424] D. Pivoting direction of the storage container support / first storage container support

[0425] D' Pivoting direction of the second storage container support

[0426] L S Total length of storage container support

[0427] First position of P1 storage container support / First position of the first storage container support

[0428] P1' First position of the second storage container support

[0429] P1” First position of the third storage container support

[0430] P1”'First position of the fourth storage container support

[0431] Second position of P2 storage container support / Second position of first storage container support

[0432] P2' Second position of the second storage container support

[0433] P2” Second position of the third storage container support

[0434] P2”'Second position of the fourth storage container support

[0435] P H level

[0436] PP pivot point / first pivot point

[0437] PP' Second pivot point

[0438] V C vehicle center

[0439] S C Center of storage container support

[0440] X First horizontal direction

[0441] Y Second horizontal direction

[0442] Z Third vertical direction

Claims

1. A remotely operated vehicle (500) for transporting storage containers (106) on a track system (108) of an automated storage and retrieval system (1), the remotely operated vehicle (500) comprising: - Body (504), including a base, said base comprising: The first set of drive units, arranged on opposite sides of the vehicle body (504), is used to drive the remotely operated vehicle (500) along the track system (108) in a first horizontal direction. X )move, A second set of drive units, arranged on other opposite sides of the vehicle body (504) or within a cavity (560) of the vehicle body (504), is used to drive the remotely operated vehicle (500) along a second horizontal direction on the track system (108). Y ) moves, the second horizontal direction ( Y Perpendicular to the first horizontal direction ( X );as well as - A storage container support (550) for carrying the storage container (106), the storage container support (550) being movably mounted to the vehicle body (504), wherein the storage container support (550) is movable between the following positions: First position ( P1 );as well as Second position ( P2 ), wherein the storage container support (550) in the second position is on the horizontal plane ( P H The storage container (106) extends into the storage container support (550) to support the storage container (106), and the storage container (106) is supported from below when arranged on the storage container support (550); Wherein, the storage container support (550) is in the first position ( P1 When the remotely operated vehicle (500) has a first coverage area ( A ), and in the storage container support (550) in the second position ( P2 When the remotely operated vehicle has a second coverage area ( B ), and wherein, in the first horizontal direction ( X ) and / or the second horizontal direction ( Y On at least one of them, the second coverage area ( B ) is greater than the first coverage area ( A ),as well as The remotely operated vehicle (500) is configured to operate in conjunction with the storage container support (550) when the storage container support (550) is positioned at the first location. P1 Compared to when the storage container support (550) is arranged in the second position, P2 (106) can carry more storage containers.

2. The remotely operated vehicle (500) according to claim 1, wherein, The storage container support (550) is at the pivot point ( PP Pivotibly mounted to the vehicle body (504) at the first position and capable of being in the first position ( P1 ) and the second position ( P2 ) between the pivot point ( PP ) moves by pivoting motion, such that the storage container support (550) is positioned in the first position ( P1 When including the vertical third direction ( Z The part on ).

3. The remotely operated vehicle (500) according to claim 1, wherein, The storage container support (550) can be slidably mounted to the vehicle body (504), such that the storage container support (550) can be in the first position ( P1 ) and the second position ( P2 Between ) in the first horizontal direction ( X ) or the second horizontal direction ( Y Slide one of them up.

4. The remotely operated vehicle (500) according to claim 1, wherein, The storage container support (550) is telescopically mounted to the vehicle body (504), such that the storage container support (550) is in the first position ( P1 ) and the second position ( P2 Between ) in the first horizontal direction ( X ) or the second horizontal direction ( Y One of them extends and stretches upwards.

5. The remotely operated vehicle (500) according to claim 1, wherein, The storage container support (550) is rotatably mounted to the vehicle body (504), such that the storage container support (550) is positioned on the horizontal plane ( P H In the first position () P1 ) and the second position ( P2 Rotate between ).

6. The remotely operated vehicle (500) according to any one of claims 1 to 5, wherein, The base is a wheel base unit (505), wherein the first set of driving devices is a first set of wheels (506a), and the second set of driving devices is a second set of wheels (506b).

7. The remotely operated vehicle (500) according to any one of claims 1 to 5, wherein, An electrically operated actuator is arranged within the vehicle body (504) to facilitate movement of the storage container support (550).

8. The remotely operated vehicle (500) according to any one of claims 1 to 5, wherein, The storage container support (550) is up to 20% larger in area than the base of the storage container (106).

9. The remotely operated vehicle (500) according to any one of claims 1 to 5, wherein, The storage container support (550) is in the first horizontal direction ( X Extending on the second horizontal direction, and wherein the storage container support (550) extends in the second horizontal direction. Y The width of the base is equal to or within the coverage area of ​​the base.

10. The remotely operated vehicle (500) according to any one of claims 1 to 5, wherein, The base of the vehicle body (504) includes a stabilizing structure (520) when the storage container support (550) is positioned in the second location ( P2 When the storage container support (550) is in use, the stabilizing structure extends directly below the storage container support (550).

11. The remotely operated vehicle (500) according to claim 10, wherein, The storage container support (550) is in the first horizontal direction ( X Extending on the first horizontal direction, and wherein the stabilizing structure (520) is located in the first horizontal direction. X The total length of the storage container support (550) extends from the storage container support (550). L S 20% to 90%, preferably 30% to 60%.

12. The remotely operated vehicle (500) according to any one of claims 1 to 5, further comprising having a vertical axis of rotation ( C C The rotating turntable device (540) of the ) and wherein, The storage container support (550) is connected to the rotating turntable device (540), thereby allowing the storage container support (550) to move from the first position ( P1 Rotate to the second position ( P2 ).

13. The remotely operated vehicle (500) according to claim 12, further comprising a turntable arm extending radially from the central portion of the rotary turntable device (540), Configured such that the turntable arm revolves around the vertical axis of rotation ( C C The rotating turntable motor, and in, The storage container support (550) is arranged on the turntable arm along the vertical axis of rotation. C C At the distal end.

14. The remotely operated vehicle (500) according to claim 12, wherein, Multiple storage container supports (550) are connected to the rotating turntable device (540).

15. The remotely operated vehicle (500) according to any one of claims 1 to 5, wherein, The first coverage area ( A ) is equal to the vertical projection of the vehicle body (504).

16. An automatic storage and retrieval system (1), comprising: - Track system (108), including those arranged on the horizontal plane ( P H In the first direction () X The first set of parallel tracks (110) extending on the horizontal plane, and arranged on the horizontal plane ( P H ) in and with the first direction ( X The second orthogonal direction ( Y The second set of parallel tracks (111) extends on the horizontal plane, and the first set of parallel tracks (110) and the second set of parallel tracks (111) extend on the horizontal plane. P H A grid pattern is formed in the grid, the grid pattern comprising a plurality of adjacent grid units (122), each grid unit (122) comprising a grid opening (115), a portion of a pair of adjacent tracks (110a, 110b) of the first set of parallel tracks (110) and a portion of a pair of adjacent tracks (111a, 111b) of the second set of parallel tracks (111), wherein the two portions define the grid opening (115). - Multiple stacks (107) of storage containers (106) are arranged in storage columns (105) located below the track system (108), wherein each storage column (105) is vertically located below the grid opening (115); - A remotely operated vehicle (500) for supporting at least one storage container (106), the remotely operated vehicle (500) being configured to move on the track system (108) above the storage column (105). The remotely operated vehicle (500) includes: - Body (504), including a base, said base comprising: The first set of drive units, arranged on opposite sides of the vehicle body (504), is used to drive the remotely operated vehicle (500) along the track system (108) in a first horizontal direction. X ) movement, and A second set of drive units, arranged on the opposite side of the vehicle body (504) or within a cavity of the vehicle body, is used to drive the remotely operated vehicle (500) along a second horizontal direction on the track system (108). Y ) moves, the second horizontal direction ( Y Perpendicular to the first horizontal direction ( X );as well as - A storage container support (550) for carrying the storage container (106) is movably attached to the vehicle body (504), wherein the storage container support (550) is movable between the following positions: First position ( P1 );as well as Second position ( P2 ), wherein the storage container support (550) in the second position is on the horizontal plane ( P H The storage container (106) extends into the storage container support (550) to support the storage container (106), and the storage container (106) is supported from below when arranged on the storage container support (550); - Wherein, the storage container support (550) is in the first position ( P1 When the remotely operated vehicle (500) has a first coverage area ( A ), and in the storage container support (550) in the second position ( P2 When the remotely operated vehicle has a second coverage area ( B ), and among them, the coverage area ( B ) larger than the coverage area ( A ),as well as - Wherein, the remotely operated vehicle (500) is configured to, when the storage container support (550) is arranged in the first position ( P1 Compared to when the storage container support (550) is arranged in the second position, P2 (106) can carry more storage containers.

17. The system (1) according to claim 16 further includes a conveying device for conveying the storage container (106) to the storage container support (550).

18. The system (1) according to claim 16, wherein, The body (504) of the remotely operated vehicle (500) further includes a vertical extension structure (511) extending from the base, the vertical extension structure (511) including a cantilever (530), the cantilever having at its upper end a lifting device for raising a storage container to a position below the cantilever (530) and lowering the storage container from a position below the cantilever, wherein, when arranged in the second position ( P2 When the cantilever (530) is in the first horizontal direction ( X The cantilever extends in the opposite direction to the storage container support (550) and is arranged on the opposite side of the remotely operated vehicle (500) compared to the position of the storage container support (550).

19. The system (1) according to claim 16, wherein, The vehicle body (504) also includes a central cavity (560) located within the vehicle body (504), the central cavity including a lifting device for raising the storage container (106) to a position within the central cavity (560) and lowering the storage container from a position within the central cavity (560).

20. The system (1) according to any one of claims 16 to 19, wherein, The system (1) further includes a control system (900) that receives information about the coverage area of ​​the remotely operated vehicle (500) for controlling the remotely operated vehicle (500) on the track system (108) of the automatic storage and retrieval system (1).

21. The system (1) according to any one of claims 16 to 19, wherein, The first coverage area of ​​the remotely operated vehicle (500) A The size of ) is equal to the size of the grid unit (122).

22. The system (1) according to any one of claims 16 to 19, wherein, The size of the grille unit (122) is related to the first coverage area of ​​the remotely operated vehicle (500). A The ratio between the sizes of ) is from 1:1 to 1:

2.

23. A method for operating a remotely operated vehicle according to any one of claims 1 to 15, wherein, The method includes the following steps: - When the storage container support (550) is in the first position ( P1 When the remotely operated vehicle (500) is moved toward the first position to receive the storage container (106); - Position the remotely operated vehicle (500) at the first location, and - Move the storage container support (550) to the second position ( P2 ), for receiving and storing the storage container (106).

24. The method according to claim 23, wherein, The method also includes - Move the remotely operated vehicle (500) to a second position for use in the storage container support (550) positioned in the second position. P2 When the storage container (106) is delivered to the receiving unit, the storage container (106) is delivered.

25. The method according to claim 23 or 24, wherein, The steps of the method are monitored and controlled by a control system (900) that receives wireless data communication and transmits the wireless data communication to the remotely operated vehicle (500).

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